diff --git a/robowaiter/behavior_tree/dataset/goal_states.txt b/robowaiter/behavior_tree/dataset/goal_states.txt
index fb17464..85c913a 100644
--- a/robowaiter/behavior_tree/dataset/goal_states.txt
+++ b/robowaiter/behavior_tree/dataset/goal_states.txt
@@ -747,7 +747,7 @@
 {At(Robot,Table1)}
 {At(Robot,Table2)}
 {At(Robot,Table3)}
-At(Robot, Table1)
+{At(Robot, Table3)}
 {On(Softdrink,Bar)}
 {On(Softdrink,WaterTable)}
 {On(Softdrink,CoffeeTable)}
@@ -1476,28 +1476,28 @@ At(Robot, Table1)
 {On(Nothing,Table1)}
 {On(Nothing,Table2)}
 {On(Nothing,Table3)}
-On(Nothing, WaterTable)
-On(MilkDrink, CoffeeTable)
-On(Softdrink, Bar2)
-On(Softdrink, WaterTable)
-On(MilkDrink, CoffeeTable)
-On(Yogurt, Table2)
-On(BottledDrink, Table1)
-On(Softdrink, Table1)
-On(MilkDrink, WaterTable)
-On(Softdrink, WaterTable)
-On(VacuumCup, Table1)
-On(Yogurt, Table1)
-On(ADMilk, Table3)
-On(BottledDrink, Table2)
-On(Softdrink, Bar2)
-On(Nothing, Bar)
-On(ADMilk, Bar2)
-On(ADMilk, Table3)
-On(BottledDrink, Bar)
-On(Yogurt, Bar)
-On(VacuumCup, Table3)
-On(MilkDrink, Bar2)
+{On(VacuumCup, Table2)}
+{On(VacuumCup, WaterTable)}
+{On(BottledDrink, Table2)}
+{On(MilkDrink, Table2)}
+{On(ADMilk, CoffeeTable)}
+{On(Softdrink, Table2)}
+{On(Nothing, WaterTable)}
+{On(Milk, Bar)}
+{On(Milk, WaterTable)}
+{On(Nothing, Bar2)}
+{On(BottledDrink, CoffeeTable)}
+{On(Nothing, Table3)}
+{On(Softdrink, Table2)}
+{On(Nothing, WaterTable)}
+{On(BottledDrink, WaterTable)}
+{On(Milk, Table3)}
+{On(Milk, CoffeeTable)}
+{On(Nothing, Table1)}
+{On(MilkDrink, Bar2)}
+{On(ADMilk, Table3)}
+{On(BottledDrink, Table1)}
+{On(Yogurt, WaterTable)}
 {Is(AC,Off)}
 {Is(AC,On)}
 {Is(ACTemperature,Up)}
@@ -2744,10 +2744,10 @@ On(MilkDrink, Bar2)
 {Holding(Milk)}
 {Holding(VacuumCup)}
 {Holding(Nothing)}
-Holding(Nothing)
-Holding(Nothing)
-Holding(MilkDrink)
-Holding(VacuumCup)
+{Holding(Softdrink)}
+{Holding(Milk)}
+{Holding(BottledDrink)}
+{Holding(Nothing)}
 {On(Coffee,Bar)}
 {On(Coffee,WaterTable)}
 {On(Coffee,CoffeeTable)}
@@ -3483,21 +3483,21 @@ Holding(VacuumCup)
 {On(Dessert,Table1)}
 {On(Dessert,Table2)}
 {On(Dessert,Table3)}
-On(Dessert, Bar2)
-On(Dessert, Bar2)
-On(Water, Bar)
-On(Water, Table1)
-On(Water, Bar2)
-On(Coffee, Bar)
-On(Water, Bar)
-On(Coffee, Bar2)
-On(Dessert, Table3)
-On(Coffee, WaterTable)
-On(Dessert, WaterTable)
-On(Water, Table3)
-On(Coffee, Table2)
-On(Water, Table3)
-On(Dessert, Table2)
+{On(Coffee, CoffeeTable)}
+{On(Water, WaterTable)}
+{On(Water, CoffeeTable)}
+{On(Dessert, WaterTable)}
+{On(Water, Table1)}
+{On(Coffee, WaterTable)}
+{On(Water, CoffeeTable)}
+{On(Dessert, Table1)}
+{On(Coffee, Bar)}
+{On(Coffee, Table3)}
+{On(Coffee, Bar2)}
+{On(Coffee, Table2)}
+{On(Water, Bar2)}
+{On(Dessert, Bar)}
+{On(Coffee, WaterTable)}
 {At(Robot,Bar),On(Softdrink,Bar)}
 {At(Robot,Bar),On(Softdrink,WaterTable)}
 {At(Robot,Bar),On(Softdrink,CoffeeTable)}
diff --git a/robowaiter/behavior_tree/dataset/goal_states_generation.py b/robowaiter/behavior_tree/dataset/goal_states_generation.py
index 85cd457..f03dfba 100644
--- a/robowaiter/behavior_tree/dataset/goal_states_generation.py
+++ b/robowaiter/behavior_tree/dataset/goal_states_generation.py
@@ -108,7 +108,7 @@ def enumerate_goal_states(total: int):
     if count_vln < point_15:
         list_vln *= point_15 // count_vln
         for i in range(0, point_15 - len(list_vln)):
-            list_vln.append(single_predict_generation(['Robot'], Place, 'at'))
+            list_vln.append('{%s}' % single_predict_generation(['Robot'], Place, 'at'))
     # print(f'VLN 任务的目标状态数：{count_vln}')
     res += list_vln
 
@@ -118,7 +118,7 @@ def enumerate_goal_states(total: int):
     if count_vlm_1 < point_15:
         list_vlm_1 *= point_15 // count_vlm_1
         for i in range(0, point_15 - len(list_vlm_1)):
-            list_vlm_1.append(single_predict_generation(Object, Place, 'on'))
+            list_vlm_1.append('{%s}' % (single_predict_generation(Object, Place, 'on')))
     res += list_vlm_1
 
     # goal states for VLM-2, 0.15
@@ -127,7 +127,7 @@ def enumerate_goal_states(total: int):
     if count_vlm_2 < point_15:
         list_vlm_2 *= point_15 // count_vlm_2
         for i in range(0, point_15 - len(list_vlm_2)):
-            list_vlm_2.append(single_predict_generation(Operable, ['0', '1'], 'is'))
+            list_vlm_2.append('{%s}' % single_predict_generation(Operable, ['0', '1'], 'is'))
     res += list_vlm_2
 
     # goal states for VLM-3, 0.1
@@ -136,7 +136,7 @@ def enumerate_goal_states(total: int):
     if count_vlm_3 < point_10:
         list_vlm_3 *= point_10 // count_vlm_3
         for i in range(0, point_10 - len(list_vlm_3)):
-            list_vlm_3.append(single_predict_generation(Object, None, 'hold'))
+            list_vlm_3.append('{%s}' % single_predict_generation(Object, None, 'hold'))
     res += list_vlm_3
 
     # goal states for OT, 0.15
@@ -145,7 +145,7 @@ def enumerate_goal_states(total: int):
     if count_ot < point_15:
         list_ot *= point_15 // count_ot
         for i in range(0, point_15 - len(list_ot)):
-            list_ot.append(single_predict_generation(Cookable, Place, 'on'))
+            list_ot.append('{%s}' % single_predict_generation(Cookable, Place, 'on'))
     res += list_ot
 
     # goal states for compound-1, 0.1