diff --git "a/json/train/data-00045-of-00160.json" "b/json/train/data-00045-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00045-of-00160.json"
@@ -0,0 +1,233 @@
+{"uid":"4536292641085100680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8773666516981450466.mp4"}
+{"uid":"11227593160267218248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7740095239176117.mp4"}
+{"uid":"11302045093684142583","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the orange pen 2- Pick up the orange pen 3- Release the red pen in the black holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14050661778303401806.mp4"}
+{"uid":"12935054979178560514","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen 2- Move towards the orange pen 3- Pick up the orange pen 4- Release the red pen in the black holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen\n\u003c/PRED\u003e","video":"3381268381703646691.mp4"}
+{"uid":"15420387502295719026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4103520025131080534.mp4"}
+{"uid":"4662537430917279507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12356311112966491971.mp4"}
+{"uid":"8245008787960002215","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":"5219416913148931626.mp4"}
+{"uid":"16188325781400538344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14455243204402832082.mp4"}
+{"uid":"1888880847520600976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black marker into the holder 2- Pick up the black pen from the table 3- Drop the black pen in the black holder 4- Move towards the orange pen 5- Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: drop the black marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black marker into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: drop the black marker into the holder\n\u003c/PRED\u003e","video":"6812835358177931043.mp4"}
+{"uid":"7432361684956865915","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue pen into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue pen into the black holder 2- Move towards the orange pen 3- Pick up the orange pen 4- Release the red pen in the black holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue pen into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen into the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue pen into the black holder\n\u003c/PRED\u003e","video":"12453933670474450503.mp4"}
+{"uid":"14294766503566124520","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the red pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the red pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the red pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the red pen from the table 2- Release the red pen in the black holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: immediate next step? \u003cPRED\u003eA: Lift the red pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the red pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Lift the red pen from the table\n\u003c/PRED\u003e","video":"17115961408814695857.mp4"}
+{"uid":"13027771297533610572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the black pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5862163462610102412.mp4"}
+{"uid":"314631992444312426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"9588461995282317652.mp4"}
+{"uid":"13530134537195586027","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2060268741870282274.mp4"}
+{"uid":"3777905177185478513","text":"\u003ctask:success:discrete:False\u003e\nmove towards the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: move towards the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue marker on the table 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the blue marker\n\u003c/PRED\u003e","video":"17543133378247998859.mp4"}
+{"uid":"7342745094722296975","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker 2- Lift the white marker from the table 3- Put the white marker in the black holder 4- Pick up the black pen from the table 5- Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker\n\u003c/PRED\u003e","video":"9293710558369018548.mp4"}
+{"uid":"1766540229891952368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npush tray to the corner of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5936439372304912204.mp4"}
+{"uid":"15356543703763207028","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange pen 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: immediate next step? \u003cPRED\u003eA: Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange pen\n\u003c/PRED\u003e","video":"13012889414687777774.mp4"}
+{"uid":"12762333171537990916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16155271183692294408.mp4"}
+{"uid":"4238972643452587419","text":"\u003ctask:success:discrete:False\u003e\nMove towards the blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue pen 2- Drop the black pen in the black holder 3- Move towards the orange pen 4- Pick up the orange pen 5- Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the blue pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen from the table 2- Drop the black pen in the black holder 3- Move towards the orange pen 4- Pick up the orange pen 5- Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the blue pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the table\n\u003c/PRED\u003e","video":"10600635164904812116.mp4"}
+{"uid":"7449525297851469441","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the black holder 2- Lift the white marker from the table 3- Put the white marker in the black holder 4- Pick up the black pen from the table 5- Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e","video":"5715166930093923314.mp4"}
+{"uid":"15511990738957783132","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the white marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the white marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the white marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the white marker from the table 2- Put the white marker in the black holder 3- Pick up the black pen from the table 4- Drop the black pen in the black holder 5- Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the black marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Lift the white marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Lift the white marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black marker 2- Put the white marker in the black holder 3- Pick up the black pen from the table 4- Drop the black pen in the black holder 5- Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the white marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the black marker\n\u003c/PRED\u003e","video":"14155560476196441235.mp4"}
+{"uid":"12998748405943654813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bottom part of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9190655107793835730.mp4"}
+{"uid":"11156887412693655821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the right most pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the right most pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2231309208952136123.mp4"}
+{"uid":"5588957293225126570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17590499194137130521.mp4"}
+{"uid":"6295582303195348352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace mango gold 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":"2797112378042377262.mp4"}
+{"uid":"5988420411688286255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15233443890700049753.mp4"}
+{"uid":"15029177364740037388","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue marker 2- Place the blue marker in the black holder 3- Lift the white marker from the table 4- Put the white marker in the black holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e","video":"16236353654862379432.mp4"}
+{"uid":"10020392881351016668","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black marker 2- Pick up the black pen from the table 3- Drop the black pen in the black holder 4- Move towards the orange pen 5- Pick up the orange pen\n\u003c/PRED\u003e","video":"18018424800070691457.mp4"}
+{"uid":"4369212510397580758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 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":"17960068433158727590.mp4"}
+{"uid":"9349634703730394342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16358982431815132421.mp4"}
+{"uid":"5510498868135739372","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the right most pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the right most pen into the holder 2- Pick up the orange pen 3- Release the red pen in the black holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: drop the right most pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the right most pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the right most pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder Q: immediate next step? \u003cPRED\u003eA: drop the right most pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the right most pen into the holder\n\u003c/PRED\u003e","video":"7913693958987031992.mp4"}
+{"uid":"14175830650805463784","text":"\u003ctask:success:discrete:True\u003e\nMove towards the blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the blue pen\n\u003c/PRED\u003e","video":"9563114001065173230.mp4"}
+{"uid":"7036417901515117527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13701012644214268990.mp4"}
+{"uid":"13012326371596185427","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue marker into the black holder 2- Lift the white marker from the table 3- Put the white marker in the black holder 4- Pick up the black pen from the table 5- Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue marker into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue marker into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue marker into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13172163594751173907.mp4"}
+{"uid":"18223218755568420387","text":"\u003ctask:success:discrete:True\u003e\nmove towards the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the blue marker\n\u003c/PRED\u003e","video":"4174720377638654849.mp4"}
+{"uid":"15902204182477870956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the corn 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":"17711179696271666660.mp4"}
+{"uid":"615855399379711014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the hint bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2102163127992767177.mp4"}
+{"uid":"9421222615065394578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1037453063996590960.mp4"}
+{"uid":"6158831340606632375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange pen into the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen 9- Pick up the orange pen Q: immediate next step? \u003cPRED\u003eA: Drop the orange pen into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen 9- Pick up the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange pen into the black holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange pen into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Drop the orange pen into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange pen into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange pen into the black holder\n\u003c/PRED\u003e","video":"5781164201030851819.mp4"}
+{"uid":"15602207034543940890","text":"\u003ctask:success:discrete:False\u003e\nMove towards the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Move towards the blue marker\n\u003c/PRED\u003e","video":"6436657681122042404.mp4"}
+{"uid":"10172968915763597128","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e","video":"9786784833255694350.mp4"}
+{"uid":"15964312877620101468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14974364986393943615.mp4"}
+{"uid":"8259422799239488705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2851857862439174918.mp4"}
+{"uid":"4522724153608571995","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black marker into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Drop the black marker into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black marker into the black holder 2- Pick up the black pen from the table 3- Drop the black pen in the black holder 4- Move towards the orange pen 5- Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the black marker into the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black marker into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black marker into the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black marker into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13283188390160496620.mp4"}
+{"uid":"444693859787595893","text":"\u003ctask:success:discrete:True\u003e\nLift the white marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the white marker from the table\n\u003c/PRED\u003e","video":"9960945780786879293.mp4"}
+{"uid":"2200387295976702164","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table Q: immediate next step? \u003cPRED\u003eA: Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white marker in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white marker in the black holder 2- Pick up the black pen from the table 3- Drop the black pen in the black holder 4- Move towards the orange pen 5- Pick up the orange pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white marker in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10262280660704586880.mp4"}
+{"uid":"8245628926635436929","text":"\u003ctask:success:discrete:True\u003e\nPick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue marker\n\u003c/PRED\u003e","video":"14830045799948793837.mp4"}
+{"uid":"4467624259201136207","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker from the table 2- Place the blue marker in the black holder 3- Lift the white marker from the table 4- Put the white marker in the black holder 5- Pick up the black pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e","video":"14180120607941207639.mp4"}
+{"uid":"3271898890957091840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen 9- drop the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen 9- drop the pen into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13894835568767193280.mp4"}
+{"uid":"605938491756238554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6133653441768001523.mp4"}
+{"uid":"8075105230048578983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10252446784673703059.mp4"}
+{"uid":"1504493804247534755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12921962845828713267.mp4"}
+{"uid":"5426299560697503807","text":"\u003ctask:success:discrete:False\u003e\nRelease the red pen in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the red pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: immediate next step? \u003cPRED\u003eA: Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Release the red pen in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the red pen in the black holder 2- done\n\u003c/PRED\u003e","video":"539022413283927039.mp4"}
+{"uid":"17183369814601857486","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black pen in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black pen in the black holder 2- Move towards the orange pen 3- Pick up the orange pen 4- Release the red pen in the black holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black pen in the black holder\n\u003c/PRED\u003e","video":"1303170067362147175.mp4"}
+{"uid":"14058564919730779339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile to the bottom side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5796869447869229595.mp4"}
+{"uid":"5955662062976281455","text":"\u003ctask:success:discrete:True\u003e\nMove towards the blue marker 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: Move towards the blue marker on the table\n\u003c/PRED\u003e","video":"17600041175327195465.mp4"}
+{"uid":"16447127265604770848","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the orange pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the orange pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2109834558283864140.mp4"}
+{"uid":"8325596482329124169","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: drop the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: immediate next step? \u003cPRED\u003eA: drop the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue marker into the holder 2- Lift the white marker from the table 3- Put the white marker in the black holder 4- Pick up the black pen from the table 5- Drop the black pen in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue marker into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue marker into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"348035480233293869.mp4"}
+{"uid":"17905086755307816445","text":"\u003ctask:success:discrete:True\u003e\nDrop the black pen in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black pen in the black holder\n\u003c/PRED\u003e","video":"7749428370799005501.mp4"}
+{"uid":"17007733830222316211","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder 8- Move towards the orange pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the holder\n\u003c/PRED\u003e","video":"3462975088445126619.mp4"}
+{"uid":"2968917241803813442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knife in the pot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7569083513054533916.mp4"}
+{"uid":"5652452201507866130","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pen 2- Release the red pen in the black holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put markers and pens into holder. last 20 steps: 1- move towards the blue marker 2- Pick up the blue marker from the table 3- Place the blue marker in the black holder 4- Lift the white marker from the table 5- Put the white marker in the black holder 6- Pick up the black pen from the table 7- Drop the black pen in the black holder Q: immediate next step? \u003cPRED\u003eA: grab the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put markers and pens into holder Q: immediate next step? \u003cPRED\u003eA: grab the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5605710656828458172.mp4"}
+{"uid":"11825224520551339764","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":"11232000170582055346.mp4"}
+{"uid":"3106079905027578350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 7up tin on the left 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":"7458385186380997200.mp4"}
+{"uid":"6449972757572756488","text":"\u003ctask:success:discrete:False\u003e\nput the fish bag in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish bag in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish bag in the white bowl 2- put the fish bag in the white bowl 3- put the yellow packet in the white bowl 4- put the fish bag in the white bowl 5- put the red packet in the white bowl\n\u003c/PRED\u003e","video":"11564746525424428067.mp4"}
+{"uid":"14199884828005935395","text":"\u003ctask:success:discrete:False\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the pink packet in the white bowl 3- put the orange packet in the white bowl 4- put the green packet in the white bowl 5- place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet 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":"9802709402580676055.mp4"}
+{"uid":"8741171585120495396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toys 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":"8456064890688439865.mp4"}
+{"uid":"6981242359110894031","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10603776385199639688.mp4"}
+{"uid":"7378391959447552705","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull tin on the left 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 redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull tin on the left table 2- put banana in the bowl 3- put 7up tin on the left table 4- put redbull tin on the left table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table Q: immediate next step? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e","video":"3234926311162864119.mp4"}
+{"uid":"9604616866395076011","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the tray 2- put the fish bag in the white bowl 3- place orange packet in white bowl 4- put the fish bag in the white bowl 5- put the yellow packet in the white bowl\n\u003c/PRED\u003e","video":"12964571845704945379.mp4"}
+{"uid":"13986004293304424185","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 7up tin on the left 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":"8651959969289757441.mp4"}
+{"uid":"4062205356440921302","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":"4944169965182439593.mp4"}
+{"uid":"12341580211795401111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  green cup  on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17522183172891982638.mp4"}
+{"uid":"10718182139445938985","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl 11- put 7up tin on the left table Q: immediate next step? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl 11- put 7up tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull tin on the left table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull tin on the left 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":"17803907968016472827.mp4"}
+{"uid":"16092953154666040762","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink packet in the white 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":"17656642559506814464.mp4"}
+{"uid":"9956696544327335523","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":"5160220251878351400.mp4"}
+{"uid":"11822685862404874809","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 7up tin on the left 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 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put 7up tin on the left table 2- put redbull tin on the left table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 7up tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e","video":"9319443978535842355.mp4"}
+{"uid":"5236078129384709202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1753962125940651220.mp4"}
+{"uid":"504045725947831735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plate 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":"13160342267386963868.mp4"}
+{"uid":"4342463459734955127","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put orange tin on the left table 4- put redbull tin on the left table 5- put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \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":"9536701007736209706.mp4"}
+{"uid":"15650649755450606351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8302679961998763140.mp4"}
+{"uid":"3293508368343886179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange tin on the left 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":"16273248295022575885.mp4"}
+{"uid":"6439004932621690832","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl on the table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times Q: immediate next step? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl 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 bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11174759586689608039.mp4"}
+{"uid":"15199231930724996747","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place blue packet in black basket 2- place green packet in black basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl Q: immediate next step? \u003cPRED\u003eA: place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue packet in black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17644672778603194815.mp4"}
+{"uid":"14815599077751973991","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow packet in white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow packet in white bowl 2- put the red packet in the white bowl 3- put the pink packet in the white bowl 4- put the orange packet in the white bowl 5- put the green packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow packet in white 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":"8418969960414622135.mp4"}
+{"uid":"18395711950589043092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9393496310482941104.mp4"}
+{"uid":"3527969927221152272","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange packet in white bowl 2- put the green packet in the white bowl 3- place yellow packet in white bowl 4- place blue packet in black basket 5- place green packet in black basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange packet in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange packet in white 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: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange packet in white bowl\n\u003c/PRED\u003e","video":"16712749760694876042.mp4"}
+{"uid":"14453290878420952758","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the bowl 2- put the green packet in the white bowl 3- place yellow packet in white bowl 4- place blue packet in black basket 5- place green packet in black basket\n\u003c/PRED\u003e","video":"6566438385815710363.mp4"}
+{"uid":"1285419194307920997","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put 7up tin on the left table 3- put redbull tin on the left table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask: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: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:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"12625230515054739146.mp4"}
+{"uid":"12062352322502650003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow blue packet in white bowl 2- put the pink packet in the white bowl 3- put the orange packet in the white bowl 4- put the green packet in the white bowl 5- place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow blue packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow blue packet in white 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 yellow blue packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow blue packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow blue packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put yellow blue packet in white bowl\n\u003c/PRED\u003e","video":"17825810334556171148.mp4"}
+{"uid":"5360495212742216180","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":"6335367741961224773.mp4"}
+{"uid":"2798571371526027866","text":"\u003ctask:success:discrete:True\u003e\nput the green chip bag in the iron tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green chip bag in the iron tray\n\u003c/PRED\u003e","video":"14412348041126915923.mp4"}
+{"uid":"11255409593143017598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15504958408468602281.mp4"}
+{"uid":"8110607628036170680","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the red packet in the white bowl 2- put the pink packet in the white bowl 3- put the orange packet in the white bowl 4- put the green packet in the white bowl 5- place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red packet in the white 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":"14150367060258580607.mp4"}
+{"uid":"7529652796286806425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue yellow packet in white 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":"1657289647046843644.mp4"}
+{"uid":"18223540180733873277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"10913320451042094687.mp4"}
+{"uid":"9396115639764270065","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":"9540125684702392944.mp4"}
+{"uid":"8088266217854221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow box into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14518441662242368436.mp4"}
+{"uid":"2837814118103528873","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":"10476230937992965704.mp4"}
+{"uid":"9967031068622966216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times 4- put bowl on the table 5- put spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times 4- put bowl on the table 5- put spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon 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 spoon in the bowl\n\u003c/PRED\u003e","video":"7153322506927749202.mp4"}
+{"uid":"1529618673645573043","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"5545649316895797973.mp4"}
+{"uid":"10892160293708892663","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green candy in the bowl 2- place yellow packet in white bowl 3- place blue packet in black basket 4- place green packet in black basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green candy 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:success:discrete:False\u003e\nput the green candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green candy in the bowl\n\u003c/PRED\u003e","video":"9508572014963195239.mp4"}
+{"uid":"438730226926090897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16048528678970701693.mp4"}
+{"uid":"16959601843601797765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3671663963954780644.mp4"}
+{"uid":"17174876362681737668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17912119956669934887.mp4"}
+{"uid":"15524305375953599983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5375015630640642353.mp4"}
+{"uid":"4416924551066798197","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the green chip bag in the iron tray 2- put the fish bag in the white bowl 3- place orange packet in white bowl 4- put the fish bag in the white bowl 5- put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray Q: immediate next step? \u003cPRED\u003eA: put the green chip bag in the iron tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green chip bag in the iron tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green chip bag in the iron tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green chip bag in the iron tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green chip bag in the iron tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green chip bag in the iron tray\n\u003c/PRED\u003e","video":"2273046115651211438.mp4"}
+{"uid":"2275414694162109544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the left orange wrapper from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8423568620381152429.mp4"}
+{"uid":"3220818023581425367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left blue marker 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":"18314064379370381471.mp4"}
+{"uid":"14242641509967014166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4783277731579429832.mp4"}
+{"uid":"366726575617814504","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the green packet in the white bowl 3- place yellow packet in white bowl 4- place blue packet in black basket 5- place green packet in black basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet 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":"17866473960192134882.mp4"}
+{"uid":"11317451282952290671","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":"3425048786521482800.mp4"}
+{"uid":"6701557845051511888","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: put paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times 4- put bowl on the table 5- put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7443597513948967512.mp4"}
+{"uid":"10555448070301567188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl 13- place blue packet in black basket Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl 13- place blue packet in black basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the tray 2- done\n\u003c/PRED\u003e","video":"7767715241845558792.mp4"}
+{"uid":"5463724312878715578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep marker in left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"257188618076037410.mp4"}
+{"uid":"904377994973632675","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet 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:success:discrete:False\u003e\nput the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the bowl 2- put the pink packet in the white bowl 3- put the orange packet in the white bowl 4- put the green packet in the white bowl 5- place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e","video":"7810748176541734529.mp4"}
+{"uid":"14094148850249365198","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the lever 4 times\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the lever 4 times Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17369769920543469883.mp4"}
+{"uid":"9767180273713103289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15068194765661752625.mp4"}
+{"uid":"17071311216970046937","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"16056518957437904085.mp4"}
+{"uid":"13152088250138690135","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow packet in white bowl 2- place blue packet in black basket 3- place green packet in black basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow packet in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow packet in white bowl\n\u003c/PRED\u003e","video":"11654307110298338512.mp4"}
+{"uid":"12191076210599335294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies 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":"4200332784901039843.mp4"}
+{"uid":"5164763331805304195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15107411583388924001.mp4"}
+{"uid":"18313910075312857848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"7334370814563031607.mp4"}
+{"uid":"2238157062955155617","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange tin on the left table 2- put redbull tin on the left table 3- put banana in the bowl 4- put 7up tin on the left table 5- put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange tin on the left table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange tin on the left table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put orange tin on the left table\n\u003c/PRED\u003e","video":"3252950745895799367.mp4"}
+{"uid":"71104211075990850","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white and black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the white and black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white and black packet in the tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white and black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white and black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white and black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white and black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9703842020132730838.mp4"}
+{"uid":"7262176511499376034","text":"\u003ctask:success:discrete:True\u003e\nput the red packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red packet in the white bowl\n\u003c/PRED\u003e","video":"11937933163397778163.mp4"}
+{"uid":"2211982849652898328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown paper cup in front of the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"634599748087270942.mp4"}
+{"uid":"16299281760781160901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8420273036158516556.mp4"}
+{"uid":"997580983566631524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet 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:success:discrete:False\u003e\nput the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the bowl 2- put the fish bag in the white bowl 3- put the red packet in the white bowl 4- put the pink packet in the white bowl 5- put the orange packet in the white bowl\n\u003c/PRED\u003e","video":"16970264240658237251.mp4"}
+{"uid":"5578168180268119190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the egg into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8714994075396600958.mp4"}
+{"uid":"10231368953260978387","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the tray 2- place green packet in black basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the tray\n\u003c/PRED\u003e","video":"15015849157859184425.mp4"}
+{"uid":"13186870354973625109","text":"\u003ctask:success:discrete:False\u003e\nput the fish bag in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow packet in the white 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish bag in the white bowl 2- put the red packet in the white bowl 3- put the pink packet in the white bowl 4- put the orange packet in the white bowl 5- put the green packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish bag in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e","video":"16247830835419494099.mp4"}
+{"uid":"9932818771621555430","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npress the packets of white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: press the packets of white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- press the packets of white bowl 2- put the orange packet in the white bowl 3- put the green packet in the white bowl 4- place yellow packet in white bowl 5- place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the packets of white bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: press the packets of white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the packets of white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange packet in white 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:success:discrete:False\u003e\npress the packets of white 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":"5907780258123113954.mp4"}
+{"uid":"2111700205047021467","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"14657003878372782076.mp4"}
+{"uid":"953080861002763217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5452456983587757887.mp4"}
+{"uid":"9377138191659369432","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4448278641477736252.mp4"}
+{"uid":"4731026240504602144","text":"\u003ctask:success:discrete:False\u003e\nplace blue yellow packet in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place blue yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: immediate next step? \u003cPRED\u003eA: place blue yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue yellow packet in white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: next 5 steps? \u003cPRED\u003eA: 1- place blue yellow packet in white bowl 2- place orange packet in white bowl 3- put the fish bag in the white bowl 4- put the yellow packet in the white bowl 5- put the fish bag in the white bowl\n\u003c/PRED\u003e","video":"9740513188327055755.mp4"}
+{"uid":"14643949011454223872","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the bowl 2- place orange packet in white bowl 3- put the fish bag in the white bowl 4- put the yellow packet in the white bowl 5- put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet 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":"3184988000097021817.mp4"}
+{"uid":"3394223041043218582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the white pebbles in the big plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2297909284636236415.mp4"}
+{"uid":"4987899277153758147","text":"\u003ctask:success:discrete:False\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the yellow packet in the white bowl 3- put the fish bag in the white bowl 4- put the red packet in the white bowl 5- put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e","video":"13561486743022034904.mp4"}
+{"uid":"10600751927653078690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4091841021014711327.mp4"}
+{"uid":"7288400532405108504","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times 4- put bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine 3- press the lever 4 times 4- put bowl on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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 spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e","video":"10369090499378904670.mp4"}
+{"uid":"84034616501673074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"5056914361064962184.mp4"}
+{"uid":"3814323374795741015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13954110720578503993.mp4"}
+{"uid":"8011994035811415931","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in the white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in the white bowl 2- put the orange packet in the white bowl 3- put the green packet in the white bowl 4- place yellow packet in white bowl 5- place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: place pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in the white bowl\n\u003c/PRED\u003e","video":"9397445202541130235.mp4"}
+{"uid":"7860279534736933836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17093548758615483031.mp4"}
+{"uid":"6838771828168340233","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":"2266701463069908488.mp4"}
+{"uid":"18161811933176876099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16060433958392905285.mp4"}
+{"uid":"2329057387925655332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3002872364326284816.mp4"}
+{"uid":"17839239889061495473","text":"\u003ctask:success:discrete:True\u003e\nput redbull tin on the left 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 redbull tin on the left table\n\u003c/PRED\u003e","video":"12097493723940299751.mp4"}
+{"uid":"16313011550887714078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tin in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10247505579925444401.mp4"}
+{"uid":"16797943172113787651","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in white bowl 2- place yellow packet in white bowl 3- place blue packet in black basket 4- place green packet in black basket 5- done\n\u003c/PRED\u003e","video":"12099314480060614309.mp4"}
+{"uid":"210011417210072678","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in the black basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in the black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in the black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in the black basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in the black basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place green packet in the black basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in the black basket 2- put the fish bag in the white bowl 3- place orange packet in white bowl 4- put the fish bag in the white bowl 5- put the yellow packet in the white bowl\n\u003c/PRED\u003e","video":"13314328006496595685.mp4"}
+{"uid":"15011274327977805021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow candy 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":"8017744737812102585.mp4"}
+{"uid":"8454661227969936442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tin on the left table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put tin on the left table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put tin on the left table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tin on the left table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tin on the left table 2- put 7up tin on the left table 3- put orange in the bowl 4- put orange in the bowl 5- put orange tin on the left table\n\u003c/PRED\u003e","video":"558565267574199652.mp4"}
+{"uid":"10516200721666540324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\non another lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9503127226449988986.mp4"}
+{"uid":"534759049937967419","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish bag in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fish bag in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish bag in the white bowl 2- put the yellow packet in the white bowl 3- put the fish bag in the white bowl 4- put the red packet in the white bowl 5- put the pink packet in the white bowl\n\u003c/PRED\u003e","video":"13076049182976128063.mp4"}
+{"uid":"12411187513921669493","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the jalapeno bag in the iron tray 2- put the fish bag in the white bowl 3- place orange packet in white bowl 4- put the fish bag in the white bowl 5- put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the jalapeno bag in the iron tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the jalapeno bag in the iron tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the jalapeno bag in the iron tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the jalapeno bag in the iron 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: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the jalapeno bag in the iron tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the jalapeno bag in the iron tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12646537164541897429.mp4"}
+{"uid":"13044941443384564338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl 11- put 7up tin on the left table 12- put redbull tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull tin on the left table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl 7- put orange in the bowl 8- put orange tin on the left table 9- put redbull tin on the left table 10- put banana in the bowl 11- put 7up tin on the left table 12- put redbull tin on the left table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull tin on the left table\n\u003c/PRED\u003e","video":"14238355714836697777.mp4"}
+{"uid":"18067326768306272639","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl Q: immediate next step? \u003cPRED\u003eA: place yellow blue packet  in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place yellow blue packet  in white bowl 2- put the fish bag in the white bowl 3- put the red packet in the white bowl 4- put the pink packet in the white bowl 5- put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place yellow blue packet  in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace yellow blue packet  in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place yellow blue packet  in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace yellow blue packet  in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place yellow blue packet  in white bowl\n\u003c/PRED\u003e","video":"11372842014591265410.mp4"}
+{"uid":"16398149140018044833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14253868761674856059.mp4"}
+{"uid":"16096629207830176918","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow candy 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow candy in the bowl 2- place blue packet in black basket 3- place green packet in black basket 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow candy in the bowl\n\u003c/PRED\u003e","video":"5820021005354476475.mp4"}
+{"uid":"2232053555732999926","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet in the white 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet in the white bowl 2- put the fish bag in the white bowl 3- put the red packet in the white bowl 4- put the pink packet in the white bowl 5- put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet in the white bowl\n\u003c/PRED\u003e","video":"2855836505802002682.mp4"}
+{"uid":"5638166901237928436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput bowl 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":"11546606486653417580.mp4"}
+{"uid":"11923991802058220664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12030432202050355534.mp4"}
+{"uid":"13598766285442697193","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet in the white bowl 2- place blue packet in black basket 3- place green packet in black basket 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet in the white 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: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet in the white bowl\n\u003c/PRED\u003e","video":"10409118588426054984.mp4"}
+{"uid":"15404537662590694685","text":"\u003ctask:success:discrete:True\u003e\nput the pink packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the white 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the white bowl 2- put the green packet in the white bowl 3- place yellow packet in white bowl 4- place blue packet in black basket 5- place green packet in black basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the white bowl\n\u003c/PRED\u003e","video":"12475588877851857139.mp4"}
+{"uid":"16816871793592599225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13830529066615097032.mp4"}
+{"uid":"6728029729302782430","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place green packet in black basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl 13- place blue packet in black basket Q: next 5 steps? \u003cPRED\u003eA: 1- place green packet in black basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green packet in black basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green packet in black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green packet in black basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl 9- put the pink packet in the white bowl 10- put the orange packet in the white bowl 11- put the green packet in the white bowl 12- place yellow packet in white bowl 13- place blue packet in black basket Q: immediate next step? \u003cPRED\u003eA: place green packet in black basket\n\u003c/PRED\u003e","video":"16032463851969776282.mp4"}
+{"uid":"6663964052472724101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. Q: immediate next step? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table Q: next 5 steps? \u003cPRED\u003eA: 1- put 7up tin on the left table 2- put orange in the bowl 3- put orange in the bowl 4- put orange tin on the left table 5- put redbull tin on the left table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table Q: immediate next step? \u003cPRED\u003eA: put 7up tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 7up tin on the left 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 7up tin on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4601219855037831711.mp4"}
+{"uid":"17436484985784451952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7715770198174848882.mp4"}
+{"uid":"16607364499376406947","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange tin on the left table 3- put redbull tin on the left table 4- put banana in the bowl 5- put 7up tin on the left table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl 3- put orange in the bowl 4- put tin on the left table 5- put 7up tin on the left table 6- put orange in the bowl Q: immediate next step? \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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"11586688602023932053.mp4"}
+{"uid":"8661386920985092553","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in white bowl 2- put the yellow packet in the white bowl 3- put the fish bag in the white bowl 4- put the red packet in the white bowl 5- put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket Q: immediate next step? \u003cPRED\u003eA: place orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in white bowl\n\u003c/PRED\u003e","video":"14330631996027083099.mp4"}
+{"uid":"10786218013459950776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput turkey stick in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17538198253437648133.mp4"}
+{"uid":"16246607523205416516","text":"\u003ctask:success:discrete:True\u003e\nplace green packet in the black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green packet in the black basket\n\u003c/PRED\u003e","video":"14652140161454137492.mp4"}
+{"uid":"16791626906050563986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a mint box in the bottom of an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17052997658466505833.mp4"}
+{"uid":"5490431482036211009","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput yellow packet in white 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":"7444593648477069441.mp4"}
+{"uid":"14371954720747502797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet in the white bowl 2- put the orange packet in the white bowl 3- put the green packet in the white bowl 4- place yellow packet in white bowl 5- place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl 8- put the red packet in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet in the white bowl\n\u003c/PRED\u003e","video":"7772452650780708224.mp4"}
+{"uid":"10505865993587759775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15019091500886049490.mp4"}
+{"uid":"15778070944408069721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8073893891452021027.mp4"}
+{"uid":"11996300665097427770","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tin on the left table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tin on the left 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":"7290253094701453061.mp4"}
+{"uid":"12371236681367084975","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the small red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the small red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small red packet in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small red packet in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fish bag in the white 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small red packet in the white bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the small red packet in the white bowl 2- put the fish bag in the white bowl 3- put the yellow packet in the white bowl 4- put the fish bag in the white bowl 5- put the red packet in the white bowl\n\u003c/PRED\u003e","video":"16730368157993589973.mp4"}
+{"uid":"3985887182041503964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the wire in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7436775781812454295.mp4"}
+{"uid":"8310405599572381235","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put the jalapeno bag in the iron tray 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl 6- put the yellow packet in the white bowl 7- put the fish bag in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet in white bowl 2- put the pink packet in the white bowl 3- put the orange packet in the white bowl 4- put the green packet in the white bowl 5- place yellow packet in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet in white 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 orange packet in white bowl\n\u003c/PRED\u003e","video":"14980116013148304870.mp4"}
+{"uid":"5477011643742430457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17582358341400233853.mp4"}
+{"uid":"4996175490692922338","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the lever 4 times\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the lever 4 times\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the lever 4 times 2- put bowl on the table 3- put spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table 2- put bowl in the machine Q: immediate next step? \u003cPRED\u003eA: press the lever 4 times\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the lever 4 times Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: press the lever 4 times\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the lever 4 times Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5325750763867893256.mp4"}
+{"uid":"9514629359647617737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1205449204708154509.mp4"}
+{"uid":"4920299764740289778","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue packet in black basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue packet in black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9476208935627161272.mp4"}
+{"uid":"17970549867012263530","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put tin on the left table 3- put 7up tin on the left table 4- put orange in the bowl 5- put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl 2- put orange in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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":"523865699789495996.mp4"}
+{"uid":"5989526876781430564","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: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:planning:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please return the fruits to the bowl and then the drinks to the counter in mk. last 20 steps: 1- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- put tin on the left table 4- put 7up tin on the left table 5- put orange in the bowl\n\u003c/PRED\u003e","video":"7520044284220516965.mp4"}
+{"uid":"8070518315701018894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16178774659485414089.mp4"}
+{"uid":"14748851337424444898","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl in the machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: put bowl in the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl in the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl in the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl in the machine 2- press the lever 4 times 3- put bowl on the table 4- put spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bowl in the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- put paper bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: put bowl in the machine\n\u003c/PRED\u003e","video":"1325211852937378281.mp4"}
+{"uid":"12334519095380311362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange snack packet on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8839109488696359963.mp4"}
+{"uid":"1170614301500209106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3716754039789138042.mp4"}
+{"uid":"18157181232009959704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass up side down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15450814949719218893.mp4"}
+{"uid":"10192061290125352706","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the dark green packet in black basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the dark green packet in black basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the dark green packet in black basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the dark green packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the dark green packet in black basket 2- place green packet in the black basket 3- put the fish bag in the white bowl 4- place orange packet in white bowl 5- put the fish bag in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the dark green packet in black basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: place the dark green packet in black basket\n\u003c/PRED\u003e","video":"9840090084608546831.mp4"}
+{"uid":"8347387611491140814","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward 5- pull the button to fill the water Q: immediate next step? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the button to fill the water Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\npull the button to fill the water Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward 5- pull the button to fill the water Q: next 5 steps? \u003cPRED\u003eA: 1- pull the button to fill the water 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e","video":"10969073974590505364.mp4"}
+{"uid":"5179293240450607170","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals 4- place the bowl on the table 5- place the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals 4- place the bowl on the table 5- place the spoon 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: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon 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":"12152845586327225388.mp4"}
+{"uid":"13458117714631387864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upright 2- move the glass right side 3- move the glass forward 4- pull the button to fill the water 5- pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7615042943802778668.mp4"}
+{"uid":"7698042222263306582","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":"4971306669359708486.mp4"}
+{"uid":"2903426882779547585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"38894794343118967.mp4"}
+{"uid":"9981424455344699560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10764622119919731978.mp4"}
+{"uid":"14745203486149153525","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nfill the bowl with cereals Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: fill the bowl with cereals\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- fill the bowl with cereals 2- place the bowl on the table 3- place the spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fill the bowl with cereals\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill the bowl with cereals Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: fill the bowl with cereals\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser Q: immediate next step? \u003cPRED\u003eA: fill the bowl with cereals\n\u003c/PRED\u003e","video":"14922602964259226448.mp4"}
+{"uid":"3613828981935396378","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- place the spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15315621761618909197.mp4"}
+{"uid":"14646440353770599333","text":"\u003ctask:success:discrete:True\u003e\nplace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass upright\n\u003c/PRED\u003e","video":"16736659995360563263.mp4"}
+{"uid":"3745745857784839791","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals 4- place the bowl on the table 5- place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7767839917914826145.mp4"}
+{"uid":"7791165198850916912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass below the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass below the machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass below the machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the glass below the machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: place the glass below the machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward 5- pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass below the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10174703864457575289.mp4"}
+{"uid":"12643769673487064916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13143006339605098460.mp4"}
+{"uid":"8899626640159637921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9215665543375956145.mp4"}
+{"uid":"14980586485981447663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wire in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17806712069395878708.mp4"}
+{"uid":"10801374369153298501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10100542453651624900.mp4"}
+{"uid":"5412858017646277482","text":"\u003ctask:success:discrete:True\u003e\nDrop the paper in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper in the trash\n\u003c/PRED\u003e","video":"220382411390747600.mp4"}
+{"uid":"1773417806860292027","text":"\u003ctask:success:discrete:False\u003e\nplace the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals 4- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the cereal dispenser 3- fill the bowl with cereals 4- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon 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 make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e","video":"6228951875031226355.mp4"}
+{"uid":"18099669518277518855","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: place the bowl on the cereal dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. last 20 steps: 1- place the bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the cereal dispenser 2- fill the bowl with cereals 3- place the bowl on the table 4- place the spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal with a spoon. Q: immediate next step? \u003cPRED\u003eA: place the bowl on the cereal dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2292271327122187176.mp4"}
+{"uid":"2289932501613046875","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side Q: immediate next step? \u003cPRED\u003eA: move the glass forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the glass forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the glass forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the glass forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side Q: next 5 steps? \u003cPRED\u003eA: 1- move the glass forward 2- pull the button to fill the water 3- pull the button to fill the water 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the glass forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: move the glass forward\n\u003c/PRED\u003e","video":"15604977041720352803.mp4"}
+{"uid":"775985594885629910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14719558924167125392.mp4"}
+{"uid":"4038710369678102797","text":"\u003ctask:success:discrete:True\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e","video":"1949828403604168946.mp4"}
+{"uid":"10039579565394395327","text":"\u003ctask:success:discrete:False\u003e\nDrop the plastic glass in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Drop the plastic glass in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the plastic glass in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- Drop the paper in the trash Q: immediate next step? \u003cPRED\u003eA: Drop the plastic glass in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the plastic glass in the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the plastic glass in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- Drop the paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the plastic glass in the trash 2- done\n\u003c/PRED\u003e","video":"1222378547610006958.mp4"}
+{"uid":"17995024939901705250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11138278312050858425.mp4"}
+{"uid":"7062979233413858708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the button to fill the water Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4172225820203632389.mp4"}
+{"uid":"13298567273129879415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10126727715644063632.mp4"}
+{"uid":"17070818336424106255","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward Q: next 5 steps? \u003cPRED\u003eA: 1- pull the button to fill the water 2- pull the button to fill the water 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward Q: immediate next step? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the button to fill the water Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\npull the button to fill the water Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4486373282154576687.mp4"}
+{"uid":"11682250021373999854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3685040879421070401.mp4"}
+{"uid":"4569032050307200531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the plastic glass in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the plastic glass in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- Drop the paper in the trash 2- Drop the plastic glass in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- Drop the paper in the trash 2- Drop the plastic glass in the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1546674459802601305.mp4"}
+{"uid":"5804046718100357587","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on the cereal dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl on the cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9020629780015220710.mp4"}
+{"uid":"15663885200423602682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2120168387348829183.mp4"}
+{"uid":"6060994359722250896","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright Q: immediate next step? \u003cPRED\u003eA: move the glass right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- move the glass right side 2- move the glass forward 3- pull the button to fill the water 4- pull the button to fill the water 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: move the glass right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the glass right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the glass right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the glass right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the glass right side\n\u003c/PRED\u003e","video":"13587952737877231065.mp4"}
+{"uid":"8845274747070528568","text":"\u003ctask:success:discrete:True\u003e\nfill the bowl with cereals Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill the bowl with cereals\n\u003c/PRED\u003e","video":"7619791898268209606.mp4"}
+{"uid":"17228203623775902474","text":"\u003ctask:success:discrete:True\u003e\nplace the glass below the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass below the machine\n\u003c/PRED\u003e","video":"11065298207679668438.mp4"}
+{"uid":"17137574805135440444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the button to fill the water\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward 5- pull the button to fill the water 6- pull the button to fill the water Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the button to fill the water Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a bags of popcorn to the table. last 20 steps: 1- place the glass below the machine 2- place the glass upright 3- move the glass right side 4- move the glass forward 5- pull the button to fill the water 6- pull the button to fill the water Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13818662525572478126.mp4"}
+{"uid":"17036661578973094384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the door of the oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14380963856645644557.mp4"}
+{"uid":"14725594061408792623","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper in the trash 2- Drop the plastic glass in the trash 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the paper in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: Drop the paper in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15763222606379605266.mp4"}