diff --git "a/json/train/data-00044-of-00160.json" "b/json/train/data-00044-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00044-of-00160.json"
@@ -0,0 +1,204 @@
+{"uid":"16927029544295721666","text":"\u003ctask:success:discrete:False\u003e\nPut the pen stand on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen stand on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen stand on the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen stand on the right side of the table 2- Put the red pen on the right side of the table 3- Put the black pen on the right side of the table 4- Put the empty pen stand in the tray 5- Put the tray near the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen stand on 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:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the right side of the table\n\u003c/PRED\u003e","video":"11198766398814774147.mp4"}
+{"uid":"5707900704131940930","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen on the left side of the table 2- Put the red pen side to the black pen 3- Put the black pen on the right side of the table 4- Put the red pen side to the black pen 5- Put the pen stand on the other side of the table 6- Put the black pen on the left side of the table 7- Put the red pen on the left side of the table 8- Put the black pen on the right side of the table 9- Put the red pen on the left side of the table 10- Put the pen stand on the right side of the table 11- Put the red pen on the right side of the table 12- Put the black pen on the right side of the table 13- Put the empty pen stand in the tray 14- Put the tray near the table 15- Put the note book on the table 16- Put the note book on the table 17- Take the tray to the edge of the table 18- Put the note book on the table 19- Take the tray to the other side of the table 20- Put the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book on the table 2- Put the tray at the old place near the wall 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen on the left side of the table 2- Put the red pen side to the black pen 3- Put the black pen on the right side of the table 4- Put the red pen side to the black pen 5- Put the pen stand on the other side of the table 6- Put the black pen on the left side of the table 7- Put the red pen on the left side of the table 8- Put the black pen on the right side of the table 9- Put the red pen on the left side of the table 10- Put the pen stand on the right side of the table 11- Put the red pen on the right side of the table 12- Put the black pen on the right side of the table 13- Put the empty pen stand in the tray 14- Put the tray near the table 15- Put the note book on the table 16- Put the note book on the table 17- Take the tray to the edge of the table 18- Put the note book on the table 19- Take the tray to the other side of the table 20- Put the note book on the table Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12339184637021703963.mp4"}
+{"uid":"1809288545708135237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards orange ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13489902484492943605.mp4"}
+{"uid":"9733056369997036509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet to 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":"15241485548500568098.mp4"}
+{"uid":"17473056359074019804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8054759485304794104.mp4"}
+{"uid":"5663808624092816202","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the pen stand on the table 3- Put the black pen on the left side of the table 4- Put the red pen side to the black pen 5- Put the black pen on the right side of the table 6- Put the red pen side to the black pen 7- Put the pen stand on the other side of the table 8- Put the black pen on the left side of the table 9- Put the red pen on the left side of the table 10- Put the black pen on the right side of the table 11- Put the red pen on the left side of the table 12- Put the pen stand on the right side of the table 13- Put the red pen on the right side of the table 14- Put the black pen on the right side of the table 15- Put the empty pen stand in the tray 16- Put the tray near the table 17- Put the note book on the table 18- Put the note book on the table 19- Take the tray to the edge of the table 20- Put the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take the tray to the other side of the table 2- Put the note book on the table 3- Put the note book on the table 4- Put the tray at the old place near the wall 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the tray to the other side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the pen stand on the table 3- Put the black pen on the left side of the table 4- Put the red pen side to the black pen 5- Put the black pen on the right side of the table 6- Put the red pen side to the black pen 7- Put the pen stand on the other side of the table 8- Put the black pen on the left side of the table 9- Put the red pen on the left side of the table 10- Put the black pen on the right side of the table 11- Put the red pen on the left side of the table 12- Put the pen stand on the right side of the table 13- Put the red pen on the right side of the table 14- Put the black pen on the right side of the table 15- Put the empty pen stand in the tray 16- Put the tray near the table 17- Put the note book on the table 18- Put the note book on the table 19- Take the tray to the edge of the table 20- Put the note book on the table Q: immediate next step? \u003cPRED\u003eA: Take the tray to the other side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Take the tray to the other side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the tray to the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the tray to the other side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the tray to the other side of the table\n\u003c/PRED\u003e","video":"14907084761246758534.mp4"}
+{"uid":"1832253045328993192","text":"\u003ctask:success:discrete:True\u003e\nTake the tray to the edge of 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: Take the tray to the edge of the table\n\u003c/PRED\u003e","video":"14273092857361714543.mp4"}
+{"uid":"13797291045330222561","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":"6204983398115621548.mp4"}
+{"uid":"2942024920997939129","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the red pens pen stand 2- Put the pen stand on the table 3- Put the black pen on the left side of the table 4- Put the red pen side to the black pen 5- Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the red pens pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e","video":"16294711913633324366.mp4"}
+{"uid":"11938802881939014378","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4572230472203232863.mp4"}
+{"uid":"5410402613068148339","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":"3616490820890170334.mp4"}
+{"uid":"7541237265442105246","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen on the left 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the left side of the table 2- Put the red pen side to the black pen 3- Put the black pen on the right side of the table 4- Put the red pen side to the black pen 5- Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e","video":"16931173574731118474.mp4"}
+{"uid":"15952694090074632454","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Turn on the lights\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTurn on the lights Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11725509803306683705.mp4"}
+{"uid":"14441735640028586480","text":"\u003ctask:success:discrete:True\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"4805989424301233323.mp4"}
+{"uid":"4628522739962533564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3274043847244035534.mp4"}
+{"uid":"1591177083321919056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8217105440702072286.mp4"}
+{"uid":"1149495784025449172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen from 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":"18378471141768942365.mp4"}
+{"uid":"16182569822708212527","text":"\u003ctask:success:discrete:False\u003e\nPut the red pen on the left 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen on the left side of the table 2- Put the black pen on the right side of the table 3- Put the red pen on the left side of the table 4- Put the pen stand on the right side of the table 5- Put the red pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen on the left 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","video":"7589356343772702113.mp4"}
+{"uid":"1138876332182948055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"2050527102216383217.mp4"}
+{"uid":"11974025259635102708","text":"\u003ctask:success:discrete:False\u003e\nPut the tray at the old place near the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tray at the old place near the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the red pen side to the black pen 2- Put the black pen on the right side of the table 3- Put the red pen side to the black pen 4- Put the pen stand on the other side of the table 5- Put the black pen on the left side of the table 6- Put the red pen on the left side of the table 7- Put the black pen on the right side of the table 8- Put the red pen on the left side of the table 9- Put the pen stand on the right side of the table 10- Put the red pen on the right side of the table 11- Put the black pen on the right side of the table 12- Put the empty pen stand in the tray 13- Put the tray near the table 14- Put the note book on the table 15- Put the note book on the table 16- Take the tray to the edge of the table 17- Put the note book on the table 18- Take the tray to the other side of the table 19- Put the note book on the table 20- Put the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tray at the old place near the wall 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the red pen side to the black pen 2- Put the black pen on the right side of the table 3- Put the red pen side to the black pen 4- Put the pen stand on the other side of the table 5- Put the black pen on the left side of the table 6- Put the red pen on the left side of the table 7- Put the black pen on the right side of the table 8- Put the red pen on the left side of the table 9- Put the pen stand on the right side of the table 10- Put the red pen on the right side of the table 11- Put the black pen on the right side of the table 12- Put the empty pen stand in the tray 13- Put the tray near the table 14- Put the note book on the table 15- Put the note book on the table 16- Take the tray to the edge of the table 17- Put the note book on the table 18- Take the tray to the other side of the table 19- Put the note book on the table 20- Put the note book on the table Q: immediate next step? \u003cPRED\u003eA: Put the tray at the old place near the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the tray at the old place near the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tray at the old place near the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tray at the old place near the wall\n\u003c/PRED\u003e","video":"16470753019159129577.mp4"}
+{"uid":"16398579822330849999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the empty pen stand 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":"11980828382114477127.mp4"}
+{"uid":"13627730249442713572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the wipes 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":"14846668409652842218.mp4"}
+{"uid":"17298845281481897429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"700725657742061670.mp4"}
+{"uid":"714489564015458792","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the red pens pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen in the red pens pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e","video":"6091507163505622379.mp4"}
+{"uid":"10932840413211985932","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen stand on the table 2- Put the black pen on the left side of the table 3- Put the red pen side to the black pen 4- Put the black pen on the right side of the table 5- Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen stand on the table\n\u003c/PRED\u003e","video":"17637065553346989150.mp4"}
+{"uid":"6465373749508485896","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the red pens pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e","video":"11792734813085257035.mp4"}
+{"uid":"8410780877561241760","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":"12885107611364108382.mp4"}
+{"uid":"1712239263304415911","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen stand on the other side of 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":"7442925170848303678.mp4"}
+{"uid":"2669628324161038247","text":"\u003ctask:success:discrete:True\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"7787904422659163822.mp4"}
+{"uid":"16845950975300597863","text":"\u003ctask:success:discrete:False\u003e\nPut the black pen on 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the right side of the table 2- Put the red pen side to the black pen 3- Put the pen stand on the other side of the table 4- Put the black pen on the left side of the table 5- Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e","video":"16997938930770326921.mp4"}
+{"uid":"15097943794888956421","text":"\u003ctask:success:discrete:False\u003e\nTurn on the lights Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: Turn on the lights\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Turn on the lights 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Turn on the lights\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door Q: immediate next step? \u003cPRED\u003eA: Turn on the lights\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Turn on the lights\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTurn on the lights Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1235763641781186350.mp4"}
+{"uid":"6193187540985023555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull 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":"984371918940448925.mp4"}
+{"uid":"643870261355933480","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the pen stand on the table 7- Put the black pen on the left side of the table 8- Put the red pen side to the black pen 9- Put the black pen on the right side of the table 10- Put the red pen side to the black pen 11- Put the pen stand on the other side of the table 12- Put the black pen on the left side of the table 13- Put the red pen on the left side of the table 14- Put the black pen on the right side of the table 15- Put the red pen on the left side of the table 16- Put the pen stand on the right side of the table 17- Put the red pen on the right side of the table 18- Put the black pen on the right side of the table 19- Put the empty pen stand in the tray 20- Put the tray near the table Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the pen stand on the table 7- Put the black pen on the left side of the table 8- Put the red pen side to the black pen 9- Put the black pen on the right side of the table 10- Put the red pen side to the black pen 11- Put the pen stand on the other side of the table 12- Put the black pen on the left side of the table 13- Put the red pen on the left side of the table 14- Put the black pen on the right side of the table 15- Put the red pen on the left side of the table 16- Put the pen stand on the right side of the table 17- Put the red pen on the right side of the table 18- Put the black pen on the right side of the table 19- Put the empty pen stand in the tray 20- Put the tray near the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book on the table 2- Put the note book on the table 3- Take the tray to the edge of the table 4- Put the note book on the table 5- Take the tray to the other side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16446618808135621607.mp4"}
+{"uid":"3933096535164849457","text":"\u003ctask:success:discrete:False\u003e\nPut the black pen on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table 19- Put the red pen on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table 19- Put the red pen on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the right side of the table 2- Put the empty pen stand in the tray 3- Put the tray near the table 4- Put the note book on the table 5- Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on 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","video":"8696677107211527151.mp4"}
+{"uid":"16844906573478911128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14415320523360429478.mp4"}
+{"uid":"9077016372867464410","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table 19- Put the red pen on the right side of the table 20- Put the black pen on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the empty pen stand 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the empty pen stand 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table 19- Put the red pen on the right side of the table 20- Put the black pen on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the empty pen stand in the tray 2- Put the tray near the table 3- Put the note book on the table 4- Put the note book on the table 5- Take the tray to the edge of the table\n\u003c/PRED\u003e","video":"13047225120989526710.mp4"}
+{"uid":"17697300051121894312","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the pen stand on the table 6- Put the black pen on the left side of the table 7- Put the red pen side to the black pen 8- Put the black pen on the right side of the table 9- Put the red pen side to the black pen 10- Put the pen stand on the other side of the table 11- Put the black pen on the left side of the table 12- Put the red pen on the left side of the table 13- Put the black pen on the right side of the table 14- Put the red pen on the left side of the table 15- Put the pen stand on the right side of the table 16- Put the red pen on the right side of the table 17- Put the black pen on the right side of the table 18- Put the empty pen stand in the tray 19- Put the tray near the table 20- Put the note book on the table Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the pen stand on the table 6- Put the black pen on the left side of the table 7- Put the red pen side to the black pen 8- Put the black pen on the right side of the table 9- Put the red pen side to the black pen 10- Put the pen stand on the other side of the table 11- Put the black pen on the left side of the table 12- Put the red pen on the left side of the table 13- Put the black pen on the right side of the table 14- Put the red pen on the left side of the table 15- Put the pen stand on the right side of the table 16- Put the red pen on the right side of the table 17- Put the black pen on the right side of the table 18- Put the empty pen stand in the tray 19- Put the tray near the table 20- Put the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book on the table 2- Take the tray to the edge of the table 3- Put the note book on the table 4- Take the tray to the other side of the table 5- Put the note book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"691921093029603057.mp4"}
+{"uid":"1675234972904986167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange cable in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7872440327039438282.mp4"}
+{"uid":"8388277683055843987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup into 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":"17559247334049425374.mp4"}
+{"uid":"5045662739354748357","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen on 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the right side of the table 2- Put the red pen on the left side of the table 3- Put the pen stand on the right side of the table 4- Put the red pen on the right side of the table 5- Put the black pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the right side of the table\n\u003c/PRED\u003e","video":"6300447564104050495.mp4"}
+{"uid":"17509272489513654264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the mate lemon box in the top row of 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":"15738666760099147828.mp4"}
+{"uid":"5497073853596343410","text":"\u003ctask:success:discrete:True\u003e\nPut the tray at the old place near the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tray at the old place near the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen on the right side of the table 2- Put the red pen side to the black pen 3- Put the pen stand on the other side of the table 4- Put the black pen on the left side of the table 5- Put the red pen on the left side of the table 6- Put the black pen on the right side of the table 7- Put the red pen on the left side of the table 8- Put the pen stand on the right side of the table 9- Put the red pen on the right side of the table 10- Put the black pen on the right side of the table 11- Put the empty pen stand in the tray 12- Put the tray near the table 13- Put the note book on the table 14- Put the note book on the table 15- Take the tray to the edge of the table 16- Put the note book on the table 17- Take the tray to the other side of the table 18- Put the note book on the table 19- Put the note book on the table 20- Put the tray at the old place near the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen on the right side of the table 2- Put the red pen side to the black pen 3- Put the pen stand on the other side of the table 4- Put the black pen on the left side of the table 5- Put the red pen on the left side of the table 6- Put the black pen on the right side of the table 7- Put the red pen on the left side of the table 8- Put the pen stand on the right side of the table 9- Put the red pen on the right side of the table 10- Put the black pen on the right side of the table 11- Put the empty pen stand in the tray 12- Put the tray near the table 13- Put the note book on the table 14- Put the note book on the table 15- Take the tray to the edge of the table 16- Put the note book on the table 17- Take the tray to the other side of the table 18- Put the note book on the table 19- Put the note book on the table 20- Put the tray at the old place near the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10563243194485153641.mp4"}
+{"uid":"12014155077771943397","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen side to the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red pen side to the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen side to the black pen 2- Put the pen stand on the other side of the table 3- Put the black pen on the left side of the table 4- Put the red pen on the left side of the table 5- Put the black pen on the right side of the table\n\u003c/PRED\u003e","video":"17572940127490411510.mp4"}
+{"uid":"1586602592906200341","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Turn on the lights 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the pen stand on the table 8- Put the black pen on the left side of the table 9- Put the red pen side to the black pen 10- Put the black pen on the right side of the table 11- Put the red pen side to the black pen 12- Put the pen stand on the other side of the table 13- Put the black pen on the left side of the table 14- Put the red pen on the left side of the table 15- Put the black pen on the right side of the table 16- Put the red pen on the left side of the table 17- Put the pen stand on the right side of the table 18- Put the red pen on the right side of the table 19- Put the black pen on the right side of the table 20- Put the empty pen stand in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tray near the table 2- Put the note book on the table 3- Put the note book on the table 4- Take the tray to the edge of the table 5- Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tray near 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the tray near the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tray near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tray near the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tray near the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Turn on the lights 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the pen stand on the table 8- Put the black pen on the left side of the table 9- Put the red pen side to the black pen 10- Put the black pen on the right side of the table 11- Put the red pen side to the black pen 12- Put the pen stand on the other side of the table 13- Put the black pen on the left side of the table 14- Put the red pen on the left side of the table 15- Put the black pen on the right side of the table 16- Put the red pen on the left side of the table 17- Put the pen stand on the right side of the table 18- Put the red pen on the right side of the table 19- Put the black pen on the right side of the table 20- Put the empty pen stand in the tray Q: immediate next step? \u003cPRED\u003eA: Put the tray near the table\n\u003c/PRED\u003e","video":"6348494154723388347.mp4"}
+{"uid":"2655210675118220351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown bag 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":"9126779713077885427.mp4"}
+{"uid":"4082589150366044235","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":"13679736807008086768.mp4"}
+{"uid":"18445475191034679374","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the red pens pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the pen stand on the table 4- Put the black pen on the left side of the table 5- Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e","video":"118394519406780080.mp4"}
+{"uid":"12452025777046308783","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red pen on 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen on the right side of the table 2- Put the black pen on the right side of the table 3- Put the empty pen stand in the tray 4- Put the tray near the table 5- Put the note book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table 17- Put the red pen on the left side of the table 18- Put the pen stand on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the right side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the right side of the table\n\u003c/PRED\u003e","video":"2390338411725020954.mp4"}
+{"uid":"4522206290551428244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the water filled 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":"1102705289175354104.mp4"}
+{"uid":"12255219169896786279","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the pen stand on the table 5- Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the red pens pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the red pens pen stand\n\u003c/PRED\u003e","video":"4664283244335456557.mp4"}
+{"uid":"3462197539985782355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an 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":"10495692393387428065.mp4"}
+{"uid":"15253486831751745033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table 14- Put the black pen on the left side of the table 15- Put the red pen on the left side of the table 16- Put the black pen on the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen on the left side of the table 2- Put the pen stand on the right side of the table 3- Put the red pen on the right side of the table 4- Put the black pen on the right side of the table 5- Put the empty pen stand in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red pen on the left 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:affordance:discriminative:discrete:True\u003e\nPut the red pen on the left 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:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen on the left side of the table\n\u003c/PRED\u003e","video":"4044459010718855009.mp4"}
+{"uid":"5035772569462298483","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the tray to the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the tray to the edge 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: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Take the tray to the edge of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the pen stand on the table 5- Put the black pen on the left side of the table 6- Put the red pen side to the black pen 7- Put the black pen on the right side of the table 8- Put the red pen side to the black pen 9- Put the pen stand on the other side of the table 10- Put the black pen on the left side of the table 11- Put the red pen on the left side of the table 12- Put the black pen on the right side of the table 13- Put the red pen on the left side of the table 14- Put the pen stand on the right side of the table 15- Put the red pen on the right side of the table 16- Put the black pen on the right side of the table 17- Put the empty pen stand in the tray 18- Put the tray near the table 19- Put the note book on the table 20- Put the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take the tray to the edge of the table 2- Put the note book on the table 3- Take the tray to the other side of the table 4- Put the note book on the table 5- Put the note book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the tray to the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the tray to the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the black pen in the red pens pen stand 4- Put the pen stand on the table 5- Put the black pen on the left side of the table 6- Put the red pen side to the black pen 7- Put the black pen on the right side of the table 8- Put the red pen side to the black pen 9- Put the pen stand on the other side of the table 10- Put the black pen on the left side of the table 11- Put the red pen on the left side of the table 12- Put the black pen on the right side of the table 13- Put the red pen on the left side of the table 14- Put the pen stand on the right side of the table 15- Put the red pen on the right side of the table 16- Put the black pen on the right side of the table 17- Put the empty pen stand in the tray 18- Put the tray near the table 19- Put the note book on the table 20- Put the note book on the table Q: immediate next step? \u003cPRED\u003eA: Take the tray to the edge of the table\n\u003c/PRED\u003e","video":"15305074087202476280.mp4"}
+{"uid":"17245245850509455067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange white 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":"10017557775813899392.mp4"}
+{"uid":"7644701104260401193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange 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":"8953720248990575226.mp4"}
+{"uid":"6458269511628802916","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":"7992571148599213071.mp4"}
+{"uid":"15232609062995021842","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":"11710163069255807502.mp4"}
+{"uid":"5016336301435573194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove red pen 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":"14924382187069064264.mp4"}
+{"uid":"15808183563285155865","text":"\u003ctask:success:discrete:True\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"16510285174951966943.mp4"}
+{"uid":"4435646031636618093","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11183535775219037040.mp4"}
+{"uid":"4539692842028587011","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the pen stand on the table 4- Put the black pen on the left side of the table 5- Put the red pen side to the black pen 6- Put the black pen on the right side of the table 7- Put the red pen side to the black pen 8- Put the pen stand on the other side of the table 9- Put the black pen on the left side of the table 10- Put the red pen on the left side of the table 11- Put the black pen on the right side of the table 12- Put the red pen on the left side of the table 13- Put the pen stand on the right side of the table 14- Put the red pen on the right side of the table 15- Put the black pen on the right side of the table 16- Put the empty pen stand in the tray 17- Put the tray near the table 18- Put the note book on the table 19- Put the note book on the table 20- Take the tray to the edge of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book on the table 2- Take the tray to the other side of the table 3- Put the note book on the table 4- Put the note book on the table 5- Put the tray at the old place near the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the black pen in the red pens pen stand 2- Put the black pen in the red pens pen stand 3- Put the pen stand on the table 4- Put the black pen on the left side of the table 5- Put the red pen side to the black pen 6- Put the black pen on the right side of the table 7- Put the red pen side to the black pen 8- Put the pen stand on the other side of the table 9- Put the black pen on the left side of the table 10- Put the red pen on the left side of the table 11- Put the black pen on the right side of the table 12- Put the red pen on the left side of the table 13- Put the pen stand on the right side of the table 14- Put the red pen on the right side of the table 15- Put the black pen on the right side of the table 16- Put the empty pen stand in the tray 17- Put the tray near the table 18- Put the note book on the table 19- Put the note book on the table 20- Take the tray to the edge of the table Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"7921967244208532062.mp4"}
+{"uid":"6731433668930401546","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9594466240252667087.mp4"}
+{"uid":"11995784222130795562","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen stand on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen stand on the right side of 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":"14576309514910339569.mp4"}
+{"uid":"2729570660206293830","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen 13- Put the pen stand on the other side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the left side of the table 2- Put the red pen on the left side of the table 3- Put the black pen on the right side of the table 4- Put the red pen on the left side of the table 5- Put the pen stand on the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen on the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on the left 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:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the left side of the table\n\u003c/PRED\u003e","video":"12567311230677884265.mp4"}
+{"uid":"9568914151274574421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen stand on the other 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen Q: immediate next step? \u003cPRED\u003eA: Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen stand on the other side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table 10- Put the red pen side to the black pen 11- Put the black pen on the right side of the table 12- Put the red pen side to the black pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen stand on the other side of the table 2- Put the black pen on the left side of the table 3- Put the red pen on the left side of the table 4- Put the black pen on the right side of the table 5- Put the red pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen stand on the other 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","video":"11261310957157395722.mp4"}
+{"uid":"7175051906492832772","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":"9954834448487022286.mp4"}
+{"uid":"11816399111178826257","text":"\u003ctask:success:discrete:True\u003e\nTake the tray to the other side of 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: Take the tray to the other side of the table\n\u003c/PRED\u003e","video":"4980415990835084501.mp4"}
+{"uid":"9458911111512349276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio 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":"18340537883302164144.mp4"}
+{"uid":"16886576731008246780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet 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":"16480967476297115293.mp4"}
+{"uid":"10336817434685621196","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":"2789382467310659313.mp4"}
+{"uid":"5171089838589460032","text":"\u003ctask:success:discrete:True\u003e\nPut the tray near 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 tray near the table\n\u003c/PRED\u003e","video":"10696951627560795092.mp4"}
+{"uid":"11512439874820451227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"17688627350545824098.mp4"}
+{"uid":"5398944863196609028","text":"\u003ctask:success:discrete:True\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"12506036398679896279.mp4"}
+{"uid":"6914125944217699542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen side to the black pen 2- Put the black pen on the right side of the table 3- Put the red pen side to the black pen 4- Put the pen stand on the other side of the table 5- Put the black pen on the left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Open the door 2- Turn on the lights 3- Put the black pen in the red pens pen stand 4- Put the black pen in the red pens pen stand 5- Put the black pen in the red pens pen stand 6- Put the black pen in the red pens pen stand 7- Put the black pen in the red pens pen stand 8- Put the pen stand on the table 9- Put the black pen on the left side of the table Q: immediate next step? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen side to the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red pen side to the black pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen side to the black pen\n\u003c/PRED\u003e","video":"9206551088592379989.mp4"}
+{"uid":"15763767586077435915","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the pen stand on the table 2- Put the black pen on the left side of the table 3- Put the red pen side to the black pen 4- Put the black pen on the right side of the table 5- Put the red pen side to the black pen 6- Put the pen stand on the other side of the table 7- Put the black pen on the left side of the table 8- Put the red pen on the left side of the table 9- Put the black pen on the right side of the table 10- Put the red pen on the left side of the table 11- Put the pen stand on the right side of the table 12- Put the red pen on the right side of the table 13- Put the black pen on the right side of the table 14- Put the empty pen stand in the tray 15- Put the tray near the table 16- Put the note book on the table 17- Put the note book on the table 18- Take the tray to the edge of the table 19- Put the note book on the table 20- Take the tray to the other side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the note book on the table 2- Put the note book on the table 3- Put the tray at the old place near the wall 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the door and turn on the light in the Denali conference room, then put down a notebook and a black and red pen at each of the five seats. last 20 steps: 1- Put the pen stand on the table 2- Put the black pen on the left side of the table 3- Put the red pen side to the black pen 4- Put the black pen on the right side of the table 5- Put the red pen side to the black pen 6- Put the pen stand on the other side of the table 7- Put the black pen on the left side of the table 8- Put the red pen on the left side of the table 9- Put the black pen on the right side of the table 10- Put the red pen on the left side of the table 11- Put the pen stand on the right side of the table 12- Put the red pen on the right side of the table 13- Put the black pen on the right side of the table 14- Put the empty pen stand in the tray 15- Put the tray near the table 16- Put the note book on the table 17- Put the note book on the table 18- Take the tray to the edge of the table 19- Put the note book on the table 20- Take the tray to the other side of the table Q: immediate next step? \u003cPRED\u003eA: Put the note book on the table\n\u003c/PRED\u003e","video":"13403071243855329654.mp4"}
+{"uid":"17258753697115360209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange 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":"7130621740450560226.mp4"}
+{"uid":"9379612111727012644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tray 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":"15566193074898156299.mp4"}
+{"uid":"13019157224996231033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14184689495429510021.mp4"}
+{"uid":"18234087497617915714","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e","video":"7170660965302846682.mp4"}
+{"uid":"11807758614834704214","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer 14- place green packet in organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green packet in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer 14- place green packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e","video":"16858350281032626280.mp4"}
+{"uid":"8521153529607345060","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange 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 orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"9377910676794366118.mp4"}
+{"uid":"3543190174700488794","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"2123263728558612705.mp4"}
+{"uid":"1267482164453917014","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place blue white packet in organizer 5- place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"12638681285870547524.mp4"}
+{"uid":"5290096136536164050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18408734464232497439.mp4"}
+{"uid":"10587352675680864488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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","video":"9357537054926480465.mp4"}
+{"uid":"16529743492958776705","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place green packet in organizer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in 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":"8813323864137389574.mp4"}
+{"uid":"4257083204368451381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16176107093866827382.mp4"}
+{"uid":"11787654231171957940","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop sugar candies in a 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","video":"1394246053405024925.mp4"}
+{"uid":"6422732410130457416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left ball to the left with the cue stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9286154202701142123.mp4"}
+{"uid":"1368891269577902","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":"18383967773673823327.mp4"}
+{"uid":"16937483966764320561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place brown packet in organizer 3- place green packet in organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"13973657299685779465.mp4"}
+{"uid":"13357131537244169445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15854674788155561635.mp4"}
+{"uid":"12545841535169359154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"5730551924619331875.mp4"}
+{"uid":"14906265815355242915","text":"\u003ctask:success:discrete:False\u003e\nDrop sugar candies in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candies in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candies in a organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place yellow packet in organizer 5- Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"11056775925717164122.mp4"}
+{"uid":"2637011552887462128","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"15055001893179192985.mp4"}
+{"uid":"6482483763851835026","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink packet in 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","video":"13972804620794010273.mp4"}
+{"uid":"13971579778093332688","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in 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: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in 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":"12596885713669009326.mp4"}
+{"uid":"11746719635345613970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11289888047263900538.mp4"}
+{"uid":"4205430159494622889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9893700248955533134.mp4"}
+{"uid":"16591347708493656478","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue white packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place blue white packet in organizer 2- place blue white packet in organizer 3- place yellow packet in organizer 4- Drop sugar candy in a organizer 5- place brown packet in organizer\n\u003c/PRED\u003e","video":"872037678258159688.mp4"}
+{"uid":"14792356805576996001","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer Q: immediate next step? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e","video":"13319966065366623661.mp4"}
+{"uid":"3325290123889937175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"415995246011612643.mp4"}
+{"uid":"4379527250150685508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white colour 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":"11422121365540509097.mp4"}
+{"uid":"13149529793729382680","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":"3908742029956949078.mp4"}
+{"uid":"11995778850734050290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio 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":"243077721497318122.mp4"}
+{"uid":"1196227173564040799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15610879202693603784.mp4"}
+{"uid":"17714137956117063316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper glass 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":"6874132579870138936.mp4"}
+{"uid":"8271651721606322838","text":"\u003ctask:success:discrete:True\u003e\nplace blue white packet in 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: place blue white packet in organizer\n\u003c/PRED\u003e","video":"3662497291564106490.mp4"}
+{"uid":"14607437606425967144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange candy 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":"1885072272814806641.mp4"}
+{"uid":"12097791218564365492","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"4482883336404231291.mp4"}
+{"uid":"5576368296881076817","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"13911561044705678076.mp4"}
+{"uid":"12900696931255040174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the smart 50 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":"12197848451239685702.mp4"}
+{"uid":"5856685094719244153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets 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 two packets 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in the organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place yellow packet in organizer 5- Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e","video":"1365555515751676091.mp4"}
+{"uid":"9023732418485921374","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer 14- Drop sugar candies in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer 14- Drop sugar candies in a organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop sugar candies in a 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: Drop sugar candies in a organizer\n\u003c/PRED\u003e","video":"7924331564110562978.mp4"}
+{"uid":"4031042945528847165","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place pink packet in organizer 3- place two pink packet in organizer 4- place blue white packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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 packet 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"18427574746302179620.mp4"}
+{"uid":"15710630807694302482","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put orange in the bowl 3- put apple in the bowl 4- put apple in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9558755489726637479.mp4"}
+{"uid":"5384908493252727801","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":"6877589193819137040.mp4"}
+{"uid":"17303052069325502191","text":"\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"11434998704913409254.mp4"}
+{"uid":"8460992172942004086","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place blue white packet in organizer 2- place yellow packet in organizer 3- Drop sugar candy in a organizer 4- place brown packet in organizer 5- place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue white packet in 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: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e","video":"16945101447962692383.mp4"}
+{"uid":"17572028509208393110","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- place green packet in organizer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"753425969230520105.mp4"}
+{"uid":"11674113196445318366","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"6198610652951731934.mp4"}
+{"uid":"10072857936474983277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put orange in the bowl 9- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put orange in the bowl 8- put orange in the bowl 9- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange 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":"15138439418910340153.mp4"}
+{"uid":"7620257718248956487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3991560057002562823.mp4"}
+{"uid":"13897663085547097764","text":"\u003ctask:success:discrete:False\u003e\nput the packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e","video":"9981875231504730164.mp4"}
+{"uid":"8120152897538745580","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place brown packet in organizer 3- place green packet in organizer 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 organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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":"16356646255271493471.mp4"}
+{"uid":"13369611310320515710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1917904675950905442.mp4"}
+{"uid":"2545802290829908830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"5757858289367241597.mp4"}
+{"uid":"16199348856738223241","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"4287355788736498828.mp4"}
+{"uid":"16601860120111979680","text":"\u003ctask:success:discrete:True\u003e\nplace two pink packet in 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: place two pink packet in organizer\n\u003c/PRED\u003e","video":"410781148436359650.mp4"}
+{"uid":"7769742201826405320","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow packet in 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","video":"5336678903710076600.mp4"}
+{"uid":"17709664111997614195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11286111513338109086.mp4"}
+{"uid":"1702085850464846693","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":"4911764817382137700.mp4"}
+{"uid":"17086397197272767337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDraw on 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":"13999476761409447982.mp4"}
+{"uid":"12807725729455604379","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue white packet in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place blue white packet in organizer 2- place blue white packet in organizer 3- place yellow packet in organizer 4- Drop sugar candy in a organizer 5- place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue white packet in 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":"7928525914886213230.mp4"}
+{"uid":"10197153929623664056","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":"11527182012698074442.mp4"}
+{"uid":"5760422665861522990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place two pink packet in organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place blue white packet in organizer 5- place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two pink packet in 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: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: place two pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two pink packet in 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":"9431999944260167221.mp4"}
+{"uid":"5461199488122365631","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"5291747562022154396.mp4"}
+{"uid":"4772279710429371781","text":"\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: please put the fruits into 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e","video":"12915449034675623680.mp4"}
+{"uid":"7898153542444423678","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candies in a organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place yellow packet in organizer 5- Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candies in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e","video":"12590415695273584059.mp4"}
+{"uid":"8486986997725056763","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"7174783867152036777.mp4"}
+{"uid":"12586852127122249727","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":"4420633140332201727.mp4"}
+{"uid":"13873762554455944769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"16086995918135839334.mp4"}
+{"uid":"1579362746579780135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop banana 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":"9057273146150756489.mp4"}
+{"uid":"18114400835528315980","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink packet in 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","video":"9400146040678606710.mp4"}
+{"uid":"17731847206992660606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in 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":"4526436782730542589.mp4"}
+{"uid":"15448769979230186726","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in 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: place brown packet in organizer\n\u003c/PRED\u003e","video":"4357457918216231486.mp4"}
+{"uid":"2412520114975437566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the carton 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":"16117519826026330374.mp4"}
+{"uid":"9735340027169366567","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":"13329298362330746835.mp4"}
+{"uid":"18043107968243669087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8395996893427716083.mp4"}
+{"uid":"8919143782310625805","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the white packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the organizer 2- place blue white packet in organizer 3- place yellow packet in organizer 4- Drop sugar candy in a organizer 5- place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the organizer\n\u003c/PRED\u003e","video":"9982948389011884045.mp4"}
+{"uid":"9292705947147345160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4088337433881591019.mp4"}
+{"uid":"9535495426417320690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place yellow packet in organizer 3- Drop sugar candy in a organizer 4- place brown packet in organizer 5- place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"3907765704240328627.mp4"}
+{"uid":"4956195834416094081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place yellow packet in organizer 3- Drop sugar candy in a organizer 4- place brown packet in organizer 5- place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"2386774782493405260.mp4"}
+{"uid":"990448622309735830","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":"7446747183977428881.mp4"}
+{"uid":"1943347076017765725","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":"9799184634471759414.mp4"}
+{"uid":"6614435289018916788","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"9810163283895847222.mp4"}
+{"uid":"16852542522404760246","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput grapes 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":"46809591057964270.mp4"}
+{"uid":"12306005746951332533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown packet in 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","video":"1934318602103937921.mp4"}
+{"uid":"14716391022359300120","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candies in a 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: Drop sugar candies in a organizer\n\u003c/PRED\u003e","video":"10751786348672281181.mp4"}
+{"uid":"11291773566244713973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue white packet in 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","video":"8755301777134300423.mp4"}
+{"uid":"8386787281901786509","text":"\u003ctask:success:discrete:False\u003e\nput the packet 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 packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e","video":"7411860311651702219.mp4"}
+{"uid":"17518734260074274259","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":"4044160069261240530.mp4"}
+{"uid":"10770408096130012388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the dna toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1719938903485252891.mp4"}
+{"uid":"2421104871098465380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in organizer 2- place two pink packet in organizer 3- place blue white packet in organizer 4- place blue white packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e","video":"1317763338754774777.mp4"}
+{"uid":"15661935054409183469","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place brown packet in organizer 3- place green packet in organizer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"10020423021846454494.mp4"}
+{"uid":"13302520925555022784","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place two pink packet in organizer 3- place blue white packet in organizer 4- place blue white packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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","video":"5201668656971708106.mp4"}
+{"uid":"13232281503069567713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2217936884951608196.mp4"}
+{"uid":"4164837427698148097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two packets 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","video":"10698635590774358659.mp4"}
+{"uid":"15785184003865174674","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in organizer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: place green packet in organizer\n\u003c/PRED\u003e","video":"78350485689949644.mp4"}
+{"uid":"17405647810425710400","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes in the bowl 2- put apple in the bowl 3- put orange in the bowl 4- put apple in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes 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 grapes 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":"11739186500388824567.mp4"}
+{"uid":"11024621064911855188","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":"10136061973795711447.mp4"}
+{"uid":"10824669622427660189","text":"\u003ctask:success:discrete:True\u003e\nplace yellow packet in 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: place yellow packet in organizer\n\u003c/PRED\u003e","video":"17797572520163603706.mp4"}
+{"uid":"8489023168829777546","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"15156753234482667193.mp4"}
+{"uid":"5904456904318943226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  chocolate pack in the storage 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":"16189167666733657277.mp4"}
+{"uid":"5408252826642743698","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets 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 two packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in the organizer 2- place blue white packet in organizer 3- place blue white packet in organizer 4- place blue white packet in organizer 5- place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two packets 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":"2247333082773286327.mp4"}
+{"uid":"10645182477171518852","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop sugar candies in a 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candies in a 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":"9394365548035268591.mp4"}
+{"uid":"11936583858230829807","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":"3099538778028271249.mp4"}
+{"uid":"16711755610011462727","text":"\u003ctask:success:discrete:False\u003e\nput orange 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 orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put apple in the bowl 6- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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":"657060010870810429.mp4"}
+{"uid":"4264493559009866932","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":"5357493976340995999.mp4"}
+{"uid":"2664837292489809218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown packet in 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","video":"18285627071631374365.mp4"}
+{"uid":"3407613889211521908","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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","video":"13537597955184664685.mp4"}
+{"uid":"15933970290027367370","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place pink packet in organizer 3- place two pink packet in organizer 4- place blue white packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e","video":"4809767498320429136.mp4"}
+{"uid":"17147926276167654222","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place green packet in organizer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"9749115938384537977.mp4"}
+{"uid":"17360380849113909521","text":"\u003ctask:success:discrete:True\u003e\nDrop sugar candy in a 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: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"10607955406717606753.mp4"}
+{"uid":"1891058987803175174","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place yellow packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow packet in 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":"17289382810259705803.mp4"}
+{"uid":"1233831825126222143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1556700392821273304.mp4"}
+{"uid":"16094185183254119649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a duck toy in the white 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":"15557268403798447102.mp4"}
+{"uid":"7269075917571629340","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in organizer 2- place brown packet in organizer 3- place green packet in organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in 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: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in organizer\n\u003c/PRED\u003e","video":"10996165589964952936.mp4"}
+{"uid":"1102797115504425036","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- done\n\u003c/PRED\u003e","video":"17426903437626353818.mp4"}
+{"uid":"5688521420680801464","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets 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 two packets 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in the organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in the organizer\n\u003c/PRED\u003e","video":"9667198130505896796.mp4"}
+{"uid":"12955967293849977760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a milano dark 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":"1086826504010470492.mp4"}
+{"uid":"18325662393356366878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee 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":"1653460100269022845.mp4"}
+{"uid":"17046857731061495607","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place green packet in organizer 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 organizer\n\u003c/PRED\u003e","video":"9604046783612060193.mp4"}
+{"uid":"835535819138917986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 4 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":"3603592987113434595.mp4"}
+{"uid":"10220615933304636753","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put apple in the bowl 3- put apple in the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange 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":"8573128946984738659.mp4"}
+{"uid":"13192747789082323726","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in organizer 2- place pink packet in organizer 3- place two pink packet in organizer 4- place blue white packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in 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":"7488896596843743430.mp4"}
+{"uid":"15578531236089757186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen wipes packet cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14780669548835718938.mp4"}
+{"uid":"3545255123099666180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder 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":"2303291597131524265.mp4"}
+{"uid":"9479777058966520237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put apple in the bowl 3- put orange in the bowl 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- put banana in the bowl 2- put grapes in the bowl 3- put apple in the bowl 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"7696643099081078818.mp4"}
+{"uid":"16159646568894986273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop sugar candies in a 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","video":"18055834847441787407.mp4"}
+{"uid":"17125509270209732444","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink packet in 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\nplace pink packet in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in organizer 2- Drop sugar candy in a organizer 3- place pink packet in organizer 4- place two pink packet in organizer 5- place blue white packet in organizer\n\u003c/PRED\u003e","video":"14528332186569226551.mp4"}
+{"uid":"9312970741699958305","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place green packet in organizer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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 packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"13280922376660947902.mp4"}
+{"uid":"7783443310936058913","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candy in a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candy in a organizer 2- place brown packet in organizer 3- place brown packet in organizer 4- place brown packet in organizer 5- place green packet in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candy in a organizer\n\u003c/PRED\u003e","video":"5145481262455942734.mp4"}
+{"uid":"18359606884894941758","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop sugar candies in a 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop sugar candies in a 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Drop sugar candies in a organizer 2- Drop sugar candy in a organizer 3- Drop sugar candy in a organizer 4- place pink packet in organizer 5- place two pink packet in organizer 6- place blue white packet in organizer 7- place blue white packet in organizer 8- place blue white packet in organizer 9- place yellow packet in organizer 10- Drop sugar candy in a organizer 11- place brown packet in organizer 12- place brown packet in organizer 13- place brown packet in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop sugar candies in a organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Drop sugar candies in a organizer\n\u003c/PRED\u003e","video":"12769386717873670604.mp4"}