Those are different grammatical structures. The verbs in the position of "go" and "melt" are base form (or infinitive) and do not inflect. Similar examples: "I asked to see him", "He failed to arrive ", "I heard him climb the stairs".
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Anonymoustwo past tense verbs togetherThere are two different clauses, and each has a past tense verb. The two verbs sometimes come next to each other: