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open_laptop/ur5_randomized_500/instructions/episode116.json

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+{
+  "seen": [
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Gently open the laptop with rectangular display screen.",
+    "Pull open the black laptop",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Open the rectangular laptop with folding hinge carefully with the right arm.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "With the right arm, open the black laptop's lid.",
+    "Raise the black and silver portable laptop using the right arm.",
+    "Raise the lid of the laptop with wide black lid.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Raise the black laptop with smooth body's top section.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Use the right arm to lift the laptop with silver buttons on keyboard",
+    "Grip and lift the black and silver portable laptop's lid.",
+    "Lift and open the black laptop.",
+    "Push the black and silver portable laptop's lid upward using the right arm.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Lift the laptop with silver keyboard's lid using the right arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Fully open the the laptop with shiny black surface.",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Pull up the lid of the laptop with wide black lid",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Carefully open the laptop featuring built-in keyboard using the right arm",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Gently open the black laptop with smooth body upward.",
+    "Lift the black laptop to open.",
+    "Pull the black laptop open with the right arm.",
+    "Open the laptop with shiny black surface entirely.",
+    "Gently lift the black laptop using the right arm",
+    "Raise the laptop with shiny black surface lid using the right arm.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Lift the laptop with silver buttons on keyboard slightly.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "Pull the screen of the black and silver portable laptop.",
+    "Slide the black and silver portable laptop open with the right arm.",
+    "Open the black laptop with smooth body by lifting its lid.",
+    "Lift the laptop with silver keyboard's lid upwards.",
+    "Gently open the laptop with wide black lid.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Raise the laptop with rectangular display screen lid with the right arm.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Open the laptop with silver buttons on keyboard carefully with the right arm.",
+    "Raise the laptop with wide black lid using the right arm firmly.",
+    "Lift the laptop with silver buttons on keyboard open with the right arm.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Raise the lid of the black laptop with smooth body.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Raise the black laptop to expose the screen",
+    "Raise the black laptop's top section.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Raise and open the laptop with shiny black surface.",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Pull the lid of the laptop with silver keyboard upward.",
+    "Use the right arm to lift the rectangular laptop with folding hinge",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Lift and open the laptop with shiny black surface.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Lift the laptop with shiny black surface's lid using the right arm.",
+    "Raise the top of the laptop with wide black lid",
+    "Fully open the the laptop with rectangular display screen.",
+    "Open the laptop with rectangular display screen completely.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Carefully open the black laptop with smooth body using the right arm",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Gently open the black laptop with smooth body upward.",
+    "Lift the laptop with silver keyboard to open.",
+    "Pull the black laptop with smooth body open with the right arm.",
+    "Open the black laptop with smooth body entirely.",
+    "Gently lift the black and silver portable laptop using the right arm",
+    "Raise the black and silver portable laptop lid using the right arm.",
+    "Lift the rectangular laptop with folding hinge lid completely.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Open the laptop with silver keyboard lifting with the right arm",
+    "Use the right arm to open the rectangular laptop with smooth texture",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Gently raise the rectangular laptop with smooth texture using the right arm.",
+    "Pull the screen of the laptop featuring built-in keyboard.",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Open the rectangular laptop with folding hinge by lifting its lid."
+  ],
+  "unseen": [
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode189.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the blue screen portable laptop completely.",
+    "Fully open the the blue screen foldable laptop.",
+    "Raise and open the orange laptop.",
+    "Raise the plastic orange laptop with metal parts using the left arm.",
+    "Pull the screen of the medium rectangular orange laptop.",
+    "Pull open the plastic orange laptop with metal parts",
+    "Open the blue screen foldable laptop lifting with the left arm",
+    "Lift the thin portable laptop to open it up",
+    "Grip and lift the laptop with folding lid's lid.",
+    "Use the left arm to raise the blue screen portable laptop.",
+    "Carefully open the thin portable laptop using the left arm",
+    "Raise the laptop with blue screen using the left arm.",
+    "Use the left arm to open the rectangular laptop with orange body.",
+    "Use the left arm to raise the thin portable laptop.",
+    "Lift the orange laptop to open.",
+    "Raise the lid of the rectangular laptop with orange body.",
+    "Raise the thin portable laptop lid using the left arm.",
+    "Open the foldable laptop entirely.",
+    "Push the thin portable laptop's lid upward using the left arm.",
+    "Lift the blue screen foldable laptop slightly.",
+    "Lift and open the rectangular laptop with orange body.",
+    "Fully lift the thin portable laptop using the left arm.",
+    "Use the left arm to open the plastic orange laptop with metal parts.",
+    "Use the left arm to raise the laptop with black hinge area.",
+    "Raise the laptop with blue screen lid with the left arm.",
+    "Pull the laptop with blue screen upward lightly.",
+    "Gently raise the foldable laptop using the left arm.",
+    "Lift the foldable laptop lid completely.",
+    "Lift the laptop with blue screen's lid upwards.",
+    "Pull the rectangular laptop with orange body's lid upward.",
+    "Open the laptop with folding lid carefully with the left arm.",
+    "Gently open the laptop with black hinge area upward.",
+    "Raise the laptop with blue screen to expose the screen",
+    "Hold the thin portable laptop steady, lift lid.",
+    "Open the orange laptop by lifting its lid.",
+    "Pull the lid of the blue screen foldable laptop upward.",
+    "Use the left arm to open the laptop with black hinge area.",
+    "Use the left arm to open the laptop with folding lid",
+    "Raise the rectangular laptop with orange body using the left arm firmly.",
+    "Pull the laptop with black hinge area open with the left arm.",
+    "Use the left arm to lift the laptop with blue screen",
+    "Lift the medium rectangular orange laptop's lid using the left arm.",
+    "Gently lift the plastic orange laptop with metal parts using the left arm",
+    "Pull up the lid of the foldable laptop",
+    "Raise the blue screen foldable laptop's top section.",
+    "With the left arm, open the laptop with folding lid's lid.",
+    "Raise the top of the laptop with blue screen",
+    "Lift the hinged screen laptop open with the left arm.",
+    "Gently open the medium rectangular orange laptop.",
+    "Slide the blue screen portable laptop open with the left arm.",
+    "Open the hinged screen laptop completely.",
+    "Fully open the the laptop with folding lid.",
+    "Raise and open the laptop with black hinge area.",
+    "Raise the thin portable laptop using the left arm.",
+    "Pull the screen of the hinged screen laptop.",
+    "Pull open the rectangular laptop with orange body",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Lift the foldable laptop to open it up",
+    "Grip and lift the blue screen portable laptop's lid.",
+    "Use the left arm to raise the plastic orange laptop with metal parts.",
+    "Carefully open the blue screen foldable laptop using the left arm",
+    "Raise the laptop with folding lid using the left arm.",
+    "Use the left arm to open the laptop with black hinge area.",
+    "Use the left arm to raise the laptop with blue screen.",
+    "Lift the orange laptop to open.",
+    "Raise the lid of the orange laptop.",
+    "Raise the thin portable laptop lid using the left arm.",
+    "Open the hinged screen laptop entirely.",
+    "Push the plastic orange laptop with metal parts's lid upward using the left arm.",
+    "Lift the laptop with black hinge area slightly.",
+    "Lift and open the blue screen portable laptop.",
+    "Fully lift the blue screen foldable laptop using the left arm.",
+    "Use the left arm to open the thin portable laptop.",
+    "Use the left arm to raise the rectangular laptop with orange body.",
+    "Raise the plastic orange laptop with metal parts lid with the left arm.",
+    "Pull the blue screen portable laptop upward lightly.",
+    "Gently raise the blue screen portable laptop using the left arm.",
+    "Lift the orange laptop lid completely.",
+    "Lift the laptop with folding lid's lid upwards.",
+    "Pull the thin portable laptop's lid upward.",
+    "Open the plastic orange laptop with metal parts carefully with the left arm.",
+    "Gently open the laptop with blue screen upward.",
+    "Raise the thin portable laptop to expose the screen",
+    "Hold the orange laptop steady, lift lid.",
+    "Open the blue screen foldable laptop by lifting its lid.",
+    "Pull the lid of the rectangular laptop with orange body upward.",
+    "Use the left arm to open the medium rectangular orange laptop.",
+    "Use the left arm to open the thin portable laptop",
+    "Raise the blue screen foldable laptop using the left arm firmly.",
+    "Pull the hinged screen laptop open with the left arm.",
+    "Use the left arm to lift the blue screen portable laptop",
+    "Lift the orange laptop's lid using the left arm.",
+    "Gently lift the blue screen portable laptop using the left arm",
+    "Pull up the lid of the medium rectangular orange laptop",
+    "Raise the thin portable laptop's top section.",
+    "With the left arm, open the rectangular laptop with orange body's lid.",
+    "Raise the top of the rectangular laptop with orange body",
+    "Lift the rectangular laptop with orange body open with the left arm.",
+    "Gently open the orange laptop.",
+    "Slide the thin portable laptop open with the left arm."
+  ],
+  "unseen": [
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the flat orange laptop using the left arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the flat orange laptop with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the left arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior using the left arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Open the flat orange laptop using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the left arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the compact laptop with orange exterior using the left arm.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the flat orange laptop with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Open the flat orange laptop using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the flat orange laptop using the left arm",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Lift the flat orange laptop's lid fully.",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Open the flat orange laptop using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop carefully using the left arm.",
+    "Lift the compact laptop with orange exterior using the left arm",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior with care",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the laptop with smooth surfaces using the left arm.",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Lift the flat orange laptop's lid gently.",
+    "Open the laptop with smooth surfaces using the left arm.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop with care",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces carefully using the left arm.",
+    "Lift the laptop with smooth surfaces using the left arm"
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode240.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Gently raise the matte laptop with smooth screen using the right arm.",
+    "Raise and open the portable folding laptop.",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Lift the matte laptop with smooth screen's lid upwards.",
+    "Use the right arm to open the black and silver laptop.",
+    "Lift the matte laptop with smooth screen lid completely.",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design to open.",
+    "Open the device with flat keyboard and screen entirely.",
+    "Lift the matte laptop with smooth screen's lid using the right arm.",
+    "Raise the black and silver laptop's top section.",
+    "With the right arm, open the rectangular laptop with Toshiba logo's lid.",
+    "Pull open the compact black and silver computer",
+    "Open the Toshiba laptop with folding design carefully with the right arm.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Raise the top of the compact black and silver computer",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Open the device with flat keyboard and screen lifting with the right arm",
+    "Raise the rectangular laptop with Toshiba logo using the right arm.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Open the matte laptop with smooth screen completely.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Gently open the black and silver laptop.",
+    "Push the compact black and silver computer's lid upward using the right arm.",
+    "Lift the device with flat keyboard and screen open with the right arm.",
+    "Use the right arm to open the black and silver laptop",
+    "Pull up the lid of the black and silver laptop",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Gently lift the matte laptop with smooth screen using the right arm",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Use the right arm to open the portable folding laptop.",
+    "Slide the portable folding laptop open with the right arm.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Lift and open the medium-sized laptop.",
+    "Carefully open the black and silver laptop using the right arm",
+    "Gently open the black laptop with reflective screen upward.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Raise the silver keyboard laptop to expose the screen",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Lift the compact black and silver computer to open it up",
+    "Fully open the the medium-sized laptop.",
+    "Grip and lift the medium-sized laptop's lid.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Gently raise the device with flat keyboard and screen using the right arm.",
+    "Raise and open the device with flat keyboard and screen.",
+    "Raise the black and silver laptop using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Use the right arm to open the compact black and silver computer.",
+    "Lift the medium-sized laptop lid completely.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Use the right arm to raise the matte laptop with smooth screen.",
+    "Lift the device with flat keyboard and screen to open.",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Lift the medium-sized laptop's lid using the right arm.",
+    "Raise the black and silver laptop's top section.",
+    "With the right arm, open the silver keyboard laptop's lid.",
+    "Pull open the compact black and silver computer",
+    "Open the rectangular laptop with Toshiba logo carefully with the right arm.",
+    "Raise the silver keyboard laptop using the right arm firmly.",
+    "Raise the device with flat keyboard and screen lid with the right arm.",
+    "Raise the top of the laptop with silver keyboard",
+    "Raise the silver keyboard laptop lid using the right arm.",
+    "Open the compact black and silver computer lifting with the right arm",
+    "Raise the compact black and silver computer using the right arm.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Open the silver keyboard laptop completely.",
+    "Hold the folding laptop with screen and keyboard steady, lift lid.",
+    "Gently open the black and silver laptop.",
+    "Push the laptop with silver keyboard's lid upward using the right arm.",
+    "Lift the matte laptop with smooth screen open with the right arm.",
+    "Use the right arm to open the black and silver laptop",
+    "Pull up the lid of the device with flat keyboard and screen",
+    "Use the right arm to raise the rectangular laptop with Toshiba logo.",
+    "Gently lift the medium-sized laptop using the right arm",
+    "Pull the compact black and silver computer open with the right arm.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Slide the medium-sized laptop open with the right arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Use the right arm to lift the black laptop with reflective screen",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Carefully open the device with flat keyboard and screen using the right arm",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the lid of the folding laptop with screen and keyboard.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Raise the portable folding laptop to expose the screen",
+    "Fully lift the compact black and silver computer using the right arm.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Fully open the the silver keyboard laptop.",
+    "Grip and lift the silver keyboard laptop's lid."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with one motion.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode257.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull up the lid of the black laptop",
+    "Carefully open the laptop for typing and computing using the right arm",
+    "Pull the black laptop with shiny display panel open with the right arm.",
+    "Gently lift the black laptop with visible hinge using the right arm",
+    "Raise the top of the laptop featuring black base and hinged screen",
+    "Raise the medium-sized black portable laptop using the right arm.",
+    "Open the black laptop with Saturn image on screen entirely.",
+    "Push the laptop with glossy screen's lid upward using the right arm.",
+    "Slide the black laptop with visible hinge open with the right arm.",
+    "Use the right arm to open the black laptop with Saturn image on screen",
+    "Open the black laptop carefully with the right arm.",
+    "Lift the laptop for typing and computing to open it up",
+    "Pull the laptop for typing and computing upward lightly.",
+    "Lift the laptop featuring black base and hinged screen lid completely.",
+    "Lift the laptop for typing and computing to open.",
+    "Open the medium-sized black portable laptop by lifting its lid.",
+    "Pull the screen of the laptop featuring black base and hinged screen.",
+    "Open the black laptop with shiny display panel lifting with the right arm",
+    "Fully open the the portable black laptop with textured casing.",
+    "Use the right arm to raise the black laptop with shiny display panel.",
+    "Use the right arm to open the black laptop.",
+    "Gently raise the black laptop with metallic edges using the right arm.",
+    "Raise the smooth laptop with Windows logo underneath to expose the screen",
+    "Raise the black laptop with visible hinge using the right arm.",
+    "Raise the laptop for typing and computing using the right arm firmly.",
+    "Pull the black laptop with metallic edges's lid upward.",
+    "Use the right arm to open the portable black laptop with textured casing.",
+    "Use the right arm to open the laptop featuring black base and hinged screen.",
+    "Lift the smooth laptop with Windows logo underneath's lid upwards.",
+    "Pull the lid of the black laptop with Saturn image on screen upward.",
+    "Lift the laptop for typing and computing's lid using the right arm.",
+    "Gently open the laptop with glossy screen.",
+    "Raise the lid of the portable black laptop with textured casing.",
+    "Lift the black laptop with shiny display panel slightly.",
+    "Pull open the black laptop with visible hinge",
+    "Raise the laptop featuring black base and hinged screen lid using the right arm.",
+    "Lift the black laptop with Saturn image on screen open with the right arm.",
+    "Open the smooth laptop with Windows logo underneath completely.",
+    "Hold the smooth laptop with Windows logo underneath steady, lift lid.",
+    "Raise the laptop with glossy screen's top section.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "Use the right arm to raise the black laptop with metallic edges.",
+    "With the right arm, open the black laptop with visible hinge's lid.",
+    "Fully lift the black laptop using the right arm.",
+    "Gently open the black laptop with visible hinge upward.",
+    "Raise the medium-sized black portable laptop lid with the right arm.",
+    "Use the right arm to lift the black laptop",
+    "Grip and lift the laptop with glossy screen's lid.",
+    "Raise and open the black laptop with shiny display panel.",
+    "Lift and open the portable black laptop with textured casing.",
+    "Pull up the lid of the laptop with flat black keyboard",
+    "Carefully open the black laptop with metallic edges using the right arm",
+    "Pull the portable black laptop with textured casing open with the right arm.",
+    "Gently lift the black laptop with shiny display panel using the right arm",
+    "Raise the top of the laptop with glossy screen",
+    "Raise the portable black laptop with textured casing using the right arm.",
+    "Open the black laptop entirely.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Slide the portable black laptop with textured casing open with the right arm.",
+    "Use the right arm to open the portable black laptop with textured casing",
+    "Open the laptop for typing and computing carefully with the right arm.",
+    "Lift the laptop featuring black base and hinged screen to open it up",
+    "Pull the black laptop with visible hinge upward lightly.",
+    "Lift the laptop for typing and computing lid completely.",
+    "Lift the black laptop to open.",
+    "Open the laptop with flat black keyboard by lifting its lid.",
+    "Pull the screen of the laptop with flat black keyboard.",
+    "Open the laptop with flat black keyboard lifting with the right arm",
+    "Fully open the the laptop featuring black base and hinged screen.",
+    "Use the right arm to raise the medium-sized black portable laptop.",
+    "Use the right arm to open the portable black laptop with textured casing.",
+    "Gently raise the black laptop with Saturn image on screen using the right arm.",
+    "Raise the laptop for typing and computing to expose the screen",
+    "Raise the black laptop with metallic edges using the right arm.",
+    "Raise the laptop featuring black base and hinged screen using the right arm firmly.",
+    "Pull the laptop with glossy screen's lid upward.",
+    "Use the right arm to open the black laptop with metallic edges.",
+    "Use the right arm to open the laptop with glossy screen.",
+    "Lift the portable black laptop with textured casing's lid upwards.",
+    "Pull the lid of the black laptop with Saturn image on screen upward.",
+    "Lift the portable black laptop with textured casing's lid using the right arm.",
+    "Gently open the black laptop.",
+    "Raise the lid of the black laptop with visible hinge.",
+    "Lift the black laptop with shiny display panel slightly.",
+    "Pull open the medium-sized black portable laptop",
+    "Raise the black laptop lid using the right arm.",
+    "Lift the black laptop with visible hinge open with the right arm.",
+    "Open the black laptop with visible hinge completely.",
+    "Hold the portable black laptop with textured casing steady, lift lid.",
+    "Raise the black laptop with Saturn image on screen's top section.",
+    "Use the right arm to raise the black laptop with visible hinge.",
+    "Use the right arm to raise the laptop featuring black base and hinged screen.",
+    "With the right arm, open the medium-sized black portable laptop's lid.",
+    "Fully lift the laptop for typing and computing using the right arm.",
+    "Gently open the black laptop with Saturn image on screen upward.",
+    "Raise the laptop for typing and computing lid with the right arm.",
+    "Use the right arm to lift the black laptop",
+    "Grip and lift the medium-sized black portable laptop's lid.",
+    "Raise and open the black laptop with metallic edges.",
+    "Lift and open the portable black laptop with textured casing."
+  ],
+  "unseen": [
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the hinged laptop with keyboard and screen with care",
+    "Lift the laptop with colorful screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the laptop with colorful screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the laptop with colorful screen carefully using the right arm.",
+    "Open the laptop with colorful screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the hinged laptop with keyboard and screen's lid.",
+    "Lift the laptop with colorful screen's lid fully.",
+    "Lift the hinged laptop with keyboard and screen using the right arm",
+    "Open the hinged laptop with keyboard and screen with one motion.",
+    "Open the laptop with colorful screen with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Grab the laptop with colorful screen and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the hinged laptop with keyboard and screen's lid fully.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the laptop with colorful screen with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the hinged laptop with keyboard and screen carefully using the right arm.",
+    "Open the thin rectangular laptop using the right arm.",
+    "Grab the thin rectangular laptop and open it.",
+    "Pull up the laptop with colorful screen's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the laptop with colorful screen using the right arm",
+    "Open the thin rectangular laptop with one motion.",
+    "Open the thin rectangular laptop with care",
+    "Lift the thin rectangular laptop using the right arm.",
+    "Lift the hinged laptop with keyboard and screen's lid gently.",
+    "Open the thin rectangular laptop carefully using the right arm.",
+    "Open the hinged laptop with keyboard and screen using the right arm.",
+    "Grab the hinged laptop with keyboard and screen and open it.",
+    "Pull up the thin rectangular laptop's lid.",
+    "Lift the thin rectangular laptop's lid fully.",
+    "Lift the thin rectangular laptop using the right arm",
+    "Open the laptop with colorful screen with one motion.",
+    "Open the thin rectangular laptop with care",
+    "Lift the hinged laptop with keyboard and screen using the right arm."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode276.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized laptop slightly.",
+    "Use the right arm to raise the laptop with silver base.",
+    "Carefully open the laptop with glass screen using the right arm",
+    "Pull the laptop with silver base upward lightly.",
+    "Hold the laptop with glass screen steady, lift lid.",
+    "Open the laptop with blue screen entirely.",
+    "Open the metallic laptop lifting with the right arm",
+    "Pull the lid of the blue-screen laptop upward.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Lift the laptop with silver base lid completely.",
+    "Open the blue-screen laptop carefully with the right arm.",
+    "Raise the lid of the portable silver laptop.",
+    "Use the right arm to open the laptop with silver base",
+    "Lift the laptop with silver base to open it up",
+    "Slide the portable silver laptop open with the right arm.",
+    "Fully lift the laptop featuring smooth metal finish using the right arm.",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Gently open the medium-sized laptop.",
+    "Raise the hinged laptop with display's top section.",
+    "Pull the laptop with silver base open with the right arm.",
+    "Gently lift the hinged laptop with display using the right arm",
+    "Use the right arm to lift the hinged laptop with display",
+    "Fully open the the portable silver laptop.",
+    "Pull open the rectangular laptop with hinge",
+    "Lift the laptop for computing's lid upwards.",
+    "Pull up the lid of the laptop with glass screen",
+    "Push the metallic laptop's lid upward using the right arm.",
+    "With the right arm, open the hinged laptop with display's lid.",
+    "Grip and lift the laptop with glass screen's lid.",
+    "Use the right arm to open the portable silver laptop.",
+    "Lift the medium-sized laptop to open.",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Raise and open the laptop with glass screen.",
+    "Raise the metallic laptop using the right arm.",
+    "Pull the screen of the laptop with glass screen.",
+    "Lift and open the laptop with blue screen.",
+    "Open the laptop with glass screen by lifting its lid.",
+    "Use the right arm to raise the laptop with smooth texture.",
+    "Raise the laptop with glass screen using the right arm firmly.",
+    "Raise the blue-screen laptop using the right arm.",
+    "Raise the laptop with blue screen to expose the screen",
+    "Raise the metallic laptop lid using the right arm.",
+    "Open the laptop featuring smooth metal finish completely.",
+    "Lift the rectangular laptop with hinge's lid using the right arm.",
+    "Pull the portable silver laptop's lid upward.",
+    "Raise the top of the blue-screen laptop",
+    "Gently open the laptop with smooth texture upward.",
+    "Raise the hinged laptop with display lid with the right arm.",
+    "Use the right arm to raise the laptop with smooth texture.",
+    "Lift the portable silver laptop open with the right arm.",
+    "Lift the medium-sized laptop slightly.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Carefully open the portable silver laptop using the right arm",
+    "Pull the portable silver laptop upward lightly.",
+    "Hold the blue-screen laptop steady, lift lid.",
+    "Open the rectangular laptop with hinge entirely.",
+    "Open the portable silver laptop lifting with the right arm",
+    "Pull the lid of the laptop with smooth texture upward.",
+    "Use the right arm to open the metallic laptop.",
+    "Lift the blue-screen laptop lid completely.",
+    "Open the laptop with silver base carefully with the right arm.",
+    "Raise the lid of the portable silver laptop.",
+    "Use the right arm to open the rectangular laptop with hinge",
+    "Lift the laptop with smooth texture to open it up",
+    "Slide the hinged laptop with display open with the right arm.",
+    "Fully lift the blue-screen laptop using the right arm.",
+    "Gently raise the laptop with smooth texture using the right arm.",
+    "Gently open the laptop with glass screen.",
+    "Raise the laptop with blue screen's top section.",
+    "Pull the laptop with glass screen open with the right arm.",
+    "Gently lift the portable silver laptop using the right arm",
+    "Use the right arm to lift the laptop with smooth texture",
+    "Fully open the the blue-screen laptop.",
+    "Pull open the laptop for computing",
+    "Lift the laptop featuring smooth metal finish's lid upwards.",
+    "Pull up the lid of the hinged laptop with display",
+    "Push the laptop featuring smooth metal finish's lid upward using the right arm.",
+    "With the right arm, open the laptop with smooth texture's lid.",
+    "Grip and lift the blue-screen laptop's lid.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Lift the metallic laptop to open.",
+    "Use the right arm to open the laptop with silver base.",
+    "Raise and open the portable silver laptop.",
+    "Raise the laptop featuring smooth metal finish using the right arm.",
+    "Pull the screen of the laptop with glass screen.",
+    "Lift and open the hinged laptop with display.",
+    "Open the metallic laptop by lifting its lid.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Raise the laptop with glass screen using the right arm firmly.",
+    "Raise the laptop with glass screen using the right arm.",
+    "Raise the laptop for computing to expose the screen",
+    "Raise the laptop with glass screen lid using the right arm.",
+    "Open the portable silver laptop completely.",
+    "Lift the portable silver laptop's lid using the right arm.",
+    "Pull the laptop with smooth texture's lid upward.",
+    "Raise the top of the rectangular laptop with hinge",
+    "Gently open the portable silver laptop upward.",
+    "Raise the laptop with silver base lid with the right arm.",
+    "Use the right arm to raise the laptop with smooth texture.",
+    "Lift the medium-sized laptop open with the right arm."
+  ],
+  "unseen": [
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop with care",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Open the sleek laptop using the right arm.",
+    "Lift the sleek laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Open the sleek laptop using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop with one motion."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode293.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the silver laptop",
+    "Hold the wood surrounded laptop steady, lift lid.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Raise the lid of the wood surrounded laptop.",
+    "Raise the laptop with black textured screen's top section.",
+    "Pull the metal laptop open with the left arm.",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Lift the black and silver laptop slightly.",
+    "Open the metal laptop carefully with the left arm.",
+    "Use the left arm to lift the laptop with wood panel background",
+    "Gently raise the wood surrounded laptop using the left arm.",
+    "Lift and open the smooth textured laptop.",
+    "Open the smooth textured laptop completely.",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Raise and open the silver laptop.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Raise the top of the black and silver laptop",
+    "Lift the silver laptop with foldable parts to open it up",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Gently open the silver laptop.",
+    "Grip and lift the smooth textured laptop's lid.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Pull up the lid of the laptop with black textured screen",
+    "Carefully open the laptop with black textured screen using the left arm",
+    "With the left arm, open the wood surrounded laptop's lid.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Fully lift the silver laptop with foldable parts using the left arm.",
+    "Open the medium foldable silver laptop lifting with the left arm",
+    "Gently lift the black screen laptop using the left arm",
+    "Raise the keyboard laptop using the left arm.",
+    "Pull the lid of the laptop with wood panel background upward.",
+    "Use the left arm to raise the silver laptop with foldable parts.",
+    "Slide the wood surrounded laptop open with the left arm.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Raise the silver laptop to expose the screen",
+    "Gently open the black screen laptop upward.",
+    "Pull the keyboard laptop upward lightly.",
+    "Open the keyboard laptop entirely.",
+    "Lift the silver laptop's lid using the left arm.",
+    "Fully open the the silver laptop.",
+    "Lift the black screen laptop's lid upwards.",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Lift the laptop with wood panel background to open.",
+    "Use the left arm to open the black screen laptop",
+    "Lift the silver laptop with black keyboard open with the left arm.",
+    "Lift the silver laptop lid completely.",
+    "Raise the black and silver laptop lid using the left arm.",
+    "Raise the medium foldable silver laptop using the left arm firmly.",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Pull open the laptop with wood panel background",
+    "Hold the black screen laptop steady, lift lid.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Raise the lid of the laptop with wood panel background.",
+    "Raise the laptop with wood panel background's top section.",
+    "Pull the keyboard laptop open with the left arm.",
+    "Use the left arm to raise the keyboard laptop.",
+    "Lift the wood surrounded laptop slightly.",
+    "Open the black screen laptop carefully with the left arm.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Gently raise the laptop with black textured screen using the left arm.",
+    "Lift and open the laptop with wood panel background.",
+    "Open the black and silver laptop completely.",
+    "Pull the screen of the keyboard laptop.",
+    "Raise and open the wood surrounded laptop.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Raise the top of the silver laptop with foldable parts",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Use the left arm to open the silver laptop.",
+    "Push the silver laptop's lid upward using the left arm.",
+    "Gently open the silver laptop.",
+    "Grip and lift the laptop with wood panel background's lid.",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Pull up the lid of the silver laptop",
+    "Carefully open the laptop with black textured screen using the left arm",
+    "With the left arm, open the smooth textured laptop's lid.",
+    "Raise the laptop with wood panel background using the left arm.",
+    "Fully lift the keyboard laptop using the left arm.",
+    "Open the silver laptop lifting with the left arm",
+    "Gently lift the black and silver laptop using the left arm",
+    "Raise the laptop with black textured screen using the left arm.",
+    "Pull the lid of the silver laptop with black keyboard upward.",
+    "Use the left arm to raise the metal laptop.",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Open the silver laptop by lifting its lid.",
+    "Raise the laptop with black textured screen to expose the screen",
+    "Gently open the black and silver laptop upward.",
+    "Pull the metal laptop upward lightly.",
+    "Open the metal laptop entirely.",
+    "Lift the smooth textured laptop's lid using the left arm.",
+    "Fully open the the wood surrounded laptop.",
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Pull the medium foldable silver laptop's lid upward.",
+    "Lift the keyboard laptop to open.",
+    "Use the left arm to open the silver laptop",
+    "Lift the wood surrounded laptop open with the left arm.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Raise the keyboard laptop using the left arm firmly.",
+    "Raise the silver laptop with black keyboard lid with the left arm."
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode310.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop with smooth matte surface using the right arm.",
+    "Open the laptop with blue screen by lifting its lid.",
+    "Gently open the laptop with smooth matte surface upward.",
+    "Lift the portable folding laptop to open.",
+    "Pull up the lid of the laptop with smooth matte surface",
+    "Use the right arm to raise the blue-screen laptop with flat keys.",
+    "Raise the lid of the blue-screen laptop with flat keys.",
+    "Carefully open the black plastic laptop with blue display using the right arm",
+    "Use the right arm to raise the laptop with rectangular base.",
+    "Raise the laptop with smooth matte surface's top section.",
+    "Open the laptop with smooth keyboard area entirely.",
+    "Fully lift the folding laptop with black exterior using the right arm.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Raise the top of the black laptop",
+    "Raise and open the black plastic laptop with blue display.",
+    "Use the right arm to raise the sleek black laptop with blue monitor.",
+    "Pull the screen of the black plastic laptop with blue display.",
+    "Pull the black laptop upward lightly.",
+    "Lift and open the laptop with blue screen.",
+    "Pull the lid of the rectangular black laptop upward.",
+    "Use the right arm to open the laptop with smooth matte surface.",
+    "Lift the black laptop lid completely.",
+    "Open the laptop with rectangular base carefully with the right arm.",
+    "Grip and lift the blue-screen laptop with flat keys's lid.",
+    "Use the right arm to open the blue-screen laptop with flat keys.",
+    "Open the laptop with smooth matte surface completely.",
+    "Raise the rectangular black laptop using the right arm firmly.",
+    "Use the right arm to open the sleek black laptop with blue monitor",
+    "Pull open the black laptop",
+    "Pull the laptop with smooth keyboard area open with the right arm.",
+    "Gently raise the folding laptop with black exterior using the right arm.",
+    "Raise the black plastic laptop with blue display lid using the right arm.",
+    "Raise the screen and keyboard laptop to expose the screen",
+    "Raise the laptop with smooth keyboard area lid with the right arm.",
+    "Gently open the sleek black laptop with blue monitor.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Hold the laptop with smooth matte surface steady, lift lid.",
+    "Slide the folding laptop with black exterior open with the right arm.",
+    "Fully open the the rectangular black laptop.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Pull the blue-screen laptop with flat keys's lid upward.",
+    "Raise the black plastic laptop with blue display using the right arm.",
+    "Use the right arm to open the black plastic laptop with blue display.",
+    "Lift the laptop with rectangular base's lid upwards.",
+    "Gently lift the rectangular black laptop using the right arm",
+    "Lift the folding laptop with black exterior to open it up",
+    "Use the right arm to lift the folding laptop with black exterior",
+    "Lift the rectangular black laptop's lid using the right arm.",
+    "Lift the blue-screen laptop with flat keys slightly.",
+    "Push the laptop with blue screen's lid upward using the right arm.",
+    "Raise the rectangular black laptop using the right arm.",
+    "Open the laptop with smooth matte surface by lifting its lid.",
+    "Gently open the portable folding laptop upward.",
+    "Lift the sleek black laptop with blue monitor to open.",
+    "Pull up the lid of the folding laptop with black exterior",
+    "Use the right arm to raise the portable folding laptop.",
+    "Raise the lid of the laptop with smooth keyboard area.",
+    "Carefully open the black laptop using the right arm",
+    "Use the right arm to raise the screen and keyboard laptop.",
+    "Raise the laptop with blue screen's top section.",
+    "Open the laptop with rectangular base entirely.",
+    "Fully lift the laptop with smooth matte surface using the right arm.",
+    "Open the laptop with smooth matte surface lifting with the right arm",
+    "Raise the top of the black plastic laptop with blue display",
+    "Raise and open the laptop with rectangular base.",
+    "Use the right arm to raise the sleek black laptop with blue monitor.",
+    "Pull the screen of the laptop with rectangular base.",
+    "Pull the rectangular black laptop upward lightly.",
+    "Lift and open the laptop with rectangular base.",
+    "Pull the lid of the rectangular black laptop upward.",
+    "Use the right arm to open the sleek black laptop with blue monitor.",
+    "Lift the black plastic laptop with blue display lid completely.",
+    "Open the blue-screen laptop with flat keys carefully with the right arm.",
+    "Grip and lift the black plastic laptop with blue display's lid.",
+    "Use the right arm to open the laptop with smooth keyboard area.",
+    "Open the blue-screen laptop with flat keys completely.",
+    "Raise the laptop with blue screen using the right arm firmly.",
+    "Use the right arm to open the laptop with smooth keyboard area",
+    "Pull open the laptop with rectangular base",
+    "Pull the laptop with smooth keyboard area open with the right arm.",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Raise the screen and keyboard laptop lid using the right arm.",
+    "Raise the black laptop to expose the screen",
+    "Raise the folding laptop with black exterior lid with the right arm.",
+    "Gently open the laptop with blue screen.",
+    "With the right arm, open the laptop with smooth matte surface's lid.",
+    "Hold the sleek black laptop with blue monitor steady, lift lid.",
+    "Slide the blue-screen laptop with flat keys open with the right arm.",
+    "Fully open the the black laptop.",
+    "Lift the screen and keyboard laptop open with the right arm.",
+    "Pull the rectangular black laptop's lid upward.",
+    "Raise the blue-screen laptop with flat keys using the right arm.",
+    "Use the right arm to open the laptop with rectangular base.",
+    "Lift the rectangular black laptop's lid upwards.",
+    "Gently lift the folding laptop with black exterior using the right arm",
+    "Lift the folding laptop with black exterior to open it up",
+    "Use the right arm to lift the laptop with smooth matte surface",
+    "Lift the laptop with smooth matte surface's lid using the right arm.",
+    "Lift the laptop with smooth keyboard area slightly.",
+    "Push the rectangular black laptop's lid upward using the right arm."
+  ],
+  "unseen": [
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with compact design carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges with care",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with shiny hinges using the right arm",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the medium-sized black laptop with one motion.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Open the black laptop with shiny hinges using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the black laptop with compact design with one motion.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with compact design carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with shiny hinges using the right arm.",
+    "Open the black laptop with compact design using the right arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with compact design with one motion.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with shiny hinges using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with shiny hinges using the right arm",
+    "Open the black laptop with compact design with one motion.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Lift the black laptop with shiny hinges using the right arm.",
+    "Open the black laptop with compact design using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the medium-sized black laptop with one motion.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with shiny hinges with care",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Open the black laptop with shiny hinges using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with shiny hinges using the right arm",
+    "Open the black laptop with compact design with one motion.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with compact design carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the black laptop with shiny hinges using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the medium-sized black laptop with one motion.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with compact design carefully using the right arm.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode328.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the black and silver portable laptop using the right arm",
+    "Pull the lid of the black laptop upward.",
+    "Use the right arm to lift the laptop with wide black lid",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Lift the black laptop's lid using the right arm.",
+    "Lift the clamshell laptop with flat screen's lid upwards.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Push the laptop with silver buttons on keyboard's lid upward using the right arm.",
+    "Fully open the the rectangular laptop with smooth texture.",
+    "Open the laptop with wide black lid completely.",
+    "Pull the rectangular laptop with folding hinge upward lightly.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Pull up the lid of the black laptop",
+    "Gently open the laptop with silver keyboard upward.",
+    "Raise the laptop with silver keyboard using the right arm firmly.",
+    "Lift the laptop with shiny black surface slightly.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Open the rectangular laptop with folding hinge by lifting its lid.",
+    "Raise the laptop with rectangular display screen lid using the right arm.",
+    "Raise and open the clamshell laptop with flat screen.",
+    "Open the laptop featuring built-in keyboard carefully with the right arm.",
+    "Raise the laptop featuring built-in keyboard's top section.",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Open the laptop with silver buttons on keyboard lifting with the right arm",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Pull the clamshell laptop with flat screen open with the right arm.",
+    "Fully lift the black laptop using the right arm.",
+    "Slide the black laptop open with the right arm.",
+    "Raise the black laptop with smooth body lid with the right arm.",
+    "Gently lift the laptop with silver buttons on keyboard using the right arm",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Pull open the laptop with silver keyboard",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Raise the lid of the black and silver portable laptop.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Pull the screen of the laptop with wide black lid.",
+    "Lift and open the laptop with silver keyboard.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Open the laptop with wide black lid entirely.",
+    "Lift the laptop with silver buttons on keyboard to open it up",
+    "With the right arm, open the laptop with silver keyboard's lid.",
+    "Lift the laptop with silver buttons on keyboard open with the right arm.",
+    "Use the right arm to open the laptop with silver keyboard",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Raise the top of the laptop with wide black lid",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Lift the rectangular laptop with smooth texture to open.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Pull the lid of the black laptop with smooth body upward.",
+    "Use the right arm to lift the laptop with shiny black surface",
+    "Grip and lift the laptop with wide black lid's lid.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Lift the rectangular laptop with smooth texture's lid upwards.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Push the black and silver portable laptop's lid upward using the right arm.",
+    "Fully open the the clamshell laptop with flat screen.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Gently raise the black and silver portable laptop using the right arm.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Pull up the lid of the laptop featuring built-in keyboard",
+    "Gently open the laptop with rectangular display screen upward.",
+    "Raise the clamshell laptop with flat screen using the right arm firmly.",
+    "Lift the black and silver portable laptop slightly.",
+    "Raise the black and silver portable laptop using the right arm.",
+    "Open the laptop with wide black lid by lifting its lid.",
+    "Raise the black laptop with smooth body lid using the right arm.",
+    "Raise and open the laptop with silver keyboard.",
+    "Open the laptop with silver buttons on keyboard carefully with the right arm.",
+    "Raise the rectangular laptop with smooth texture's top section.",
+    "Gently open the laptop with silver buttons on keyboard.",
+    "Open the clamshell laptop with flat screen lifting with the right arm",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Pull the laptop with shiny black surface open with the right arm.",
+    "Fully lift the laptop with silver buttons on keyboard using the right arm.",
+    "Slide the laptop with silver keyboard open with the right arm.",
+    "Raise the laptop featuring built-in keyboard lid with the right arm.",
+    "Gently lift the black laptop using the right arm",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Pull open the black and silver portable laptop",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Pull the screen of the laptop featuring built-in keyboard.",
+    "Lift and open the laptop with silver keyboard.",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Lift the black laptop with smooth body to open it up",
+    "With the right arm, open the laptop with rectangular display screen's lid.",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Lift the rectangular laptop with smooth texture to open."
+  ],
+  "unseen": [
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode330.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the lightweight silver laptop using the left arm",
+    "With the left arm, open the rectangular laptop with screen's lid.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Use the left arm to raise the rectangular laptop with screen.",
+    "Gently open the medium-sized silver laptop.",
+    "Grip and lift the compact silver laptop's lid.",
+    "Raise the slim laptop using the left arm.",
+    "Lift the rectangular laptop with screen's lid using the left arm.",
+    "Raise the slim laptop to expose the screen",
+    "Raise the medium-sized silver laptop lid with the left arm.",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Pull the metal laptop with black keys's lid upward.",
+    "Raise the lid of the metal laptop with black keys.",
+    "Slide the silver laptop with dark keys open with the left arm.",
+    "Raise and open the laptop with smooth surface.",
+    "Gently raise the slim laptop using the left arm.",
+    "Use the left arm to lift the laptop with metallic finish",
+    "Pull open the slim laptop",
+    "Push the laptop with smooth surface's lid upward using the left arm.",
+    "Open the laptop with black keyboard by lifting its lid.",
+    "Fully open the the laptop with smooth surface.",
+    "Raise the medium-sized silver laptop using the left arm.",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Gently open the silver laptop with dark keys upward.",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Fully lift the laptop with metallic finish using the left arm.",
+    "Use the left arm to open the portable slim laptop.",
+    "Lift the lightweight silver laptop to open.",
+    "Gently lift the rectangular laptop with screen using the left arm",
+    "Lift the portable slim laptop lid completely.",
+    "Use the left arm to open the lightweight silver laptop",
+    "Raise the slim laptop using the left arm firmly.",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Pull the laptop with foldable screen design open with the left arm.",
+    "Open the slim laptop entirely.",
+    "Open the laptop with foldable screen design lifting with the left arm",
+    "Open the laptop with black keyboard completely.",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Lift the laptop with black keyboard slightly.",
+    "Raise the lightweight silver laptop's top section.",
+    "Use the left arm to open the lightweight silver laptop.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "Raise the top of the portable slim laptop",
+    "Pull the screen of the silver laptop with dark keys.",
+    "Lift the metal laptop with black keys's lid upwards.",
+    "Open the laptop with metallic finish carefully with the left arm.",
+    "Lift and open the rectangular laptop with screen.",
+    "Raise the laptop with smooth surface lid using the left arm.",
+    "Pull the lid of the silver laptop with dark keys upward.",
+    "Lift the metal laptop with black keys to open it up",
+    "Carefully open the medium-sized silver laptop using the left arm",
+    "With the left arm, open the metal laptop with black keys's lid.",
+    "Use the left arm to open the lightweight silver laptop.",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Gently open the lightweight silver laptop.",
+    "Grip and lift the laptop with foldable screen design's lid.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Lift the portable slim laptop's lid using the left arm.",
+    "Raise the laptop with smooth surface to expose the screen",
+    "Raise the laptop with metallic finish lid with the left arm.",
+    "Pull up the lid of the medium-sized silver laptop",
+    "Pull the laptop with black keyboard's lid upward.",
+    "Raise the lid of the rectangular laptop with screen.",
+    "Slide the medium-sized silver laptop open with the left arm.",
+    "Raise and open the medium-sized silver laptop.",
+    "Gently raise the slim laptop using the left arm.",
+    "Use the left arm to lift the laptop with smooth surface",
+    "Pull open the laptop with black keyboard",
+    "Push the metal laptop with black keys's lid upward using the left arm.",
+    "Open the medium-sized silver laptop by lifting its lid.",
+    "Fully open the the rectangular laptop with screen.",
+    "Raise the compact silver laptop using the left arm.",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "Gently open the compact silver laptop upward.",
+    "Use the left arm to raise the rectangular laptop with screen.",
+    "Fully lift the laptop with foldable screen design using the left arm.",
+    "Use the left arm to open the laptop with foldable screen design.",
+    "Lift the rectangular laptop with screen to open.",
+    "Gently lift the rectangular laptop with screen using the left arm",
+    "Lift the rectangular laptop with screen lid completely.",
+    "Use the left arm to open the rectangular laptop with screen",
+    "Raise the medium-sized silver laptop using the left arm firmly.",
+    "Lift the medium-sized silver laptop open with the left arm.",
+    "Pull the laptop with foldable screen design open with the left arm.",
+    "Open the laptop with foldable screen design entirely.",
+    "Open the rectangular laptop with screen lifting with the left arm",
+    "Open the portable slim laptop completely.",
+    "Pull the laptop with black keyboard upward lightly.",
+    "Lift the rectangular laptop with screen slightly.",
+    "Raise the portable slim laptop's top section.",
+    "Use the left arm to open the portable slim laptop.",
+    "Hold the compact silver laptop steady, lift lid.",
+    "Raise the top of the lightweight silver laptop",
+    "Pull the screen of the slim laptop.",
+    "Lift the laptop with smooth surface's lid upwards.",
+    "Open the laptop with smooth surface carefully with the left arm.",
+    "Lift and open the compact silver laptop.",
+    "Raise the silver laptop with dark keys lid using the left arm.",
+    "Pull the lid of the metal laptop with black keys upward.",
+    "Lift the metal laptop with black keys to open it up"
+  ],
+  "unseen": [
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the silver laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode372.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to raise the medium-sized silver laptop.",
+    "Push the laptop with smooth surface's lid upward using the left arm.",
+    "Slide the lightweight silver laptop open with the left arm.",
+    "Use the left arm to lift the portable slim laptop",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Raise and open the rectangular laptop with screen.",
+    "Use the left arm to open the portable slim laptop.",
+    "Open the metal laptop with black keys completely.",
+    "Pull up the lid of the portable slim laptop",
+    "Lift the laptop with foldable screen design slightly.",
+    "Raise the compact silver laptop's top section.",
+    "Open the laptop with metallic finish by lifting its lid.",
+    "Pull the laptop with metallic finish's lid upward.",
+    "Fully open the the rectangular laptop with screen.",
+    "Grip and lift the portable slim laptop's lid.",
+    "With the left arm, open the laptop with black keyboard's lid.",
+    "Open the silver laptop with dark keys entirely.",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Raise the laptop with metallic finish lid using the left arm.",
+    "Open the lightweight silver laptop carefully with the left arm.",
+    "Pull the screen of the medium-sized silver laptop.",
+    "Hold the medium-sized silver laptop steady, lift lid.",
+    "Open the portable slim laptop lifting with the left arm",
+    "Lift the metal laptop with black keys to open it up",
+    "Raise the compact silver laptop using the left arm.",
+    "Gently open the laptop with black keyboard upward.",
+    "Fully lift the lightweight silver laptop using the left arm.",
+    "Raise the laptop with black keyboard lid with the left arm.",
+    "Pull open the rectangular laptop with screen",
+    "Lift the portable slim laptop to open.",
+    "Raise the rectangular laptop with screen using the left arm firmly.",
+    "Raise the medium-sized silver laptop using the left arm.",
+    "Lift the laptop with smooth surface lid completely.",
+    "Pull the compact silver laptop open with the left arm.",
+    "Lift the compact silver laptop's lid upwards.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull the lid of the laptop with foldable screen design upward.",
+    "Raise the top of the laptop with foldable screen design",
+    "Lift and open the laptop with metallic finish.",
+    "Use the left arm to open the metal laptop with black keys",
+    "Gently lift the laptop with black keyboard using the left arm",
+    "Pull the laptop with foldable screen design upward lightly.",
+    "Carefully open the slim laptop using the left arm",
+    "Gently open the laptop with black keyboard.",
+    "Lift the lightweight silver laptop's lid using the left arm.",
+    "Raise the lid of the lightweight silver laptop.",
+    "Gently raise the slim laptop using the left arm.",
+    "Raise the silver laptop with dark keys to expose the screen",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Push the compact silver laptop's lid upward using the left arm.",
+    "Slide the lightweight silver laptop open with the left arm.",
+    "Use the left arm to lift the laptop with black keyboard",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Lift the compact silver laptop open with the left arm.",
+    "Raise and open the medium-sized silver laptop.",
+    "Use the left arm to open the portable slim laptop.",
+    "Open the slim laptop completely.",
+    "Pull up the lid of the silver laptop with dark keys",
+    "Lift the laptop with smooth surface slightly.",
+    "Raise the slim laptop's top section.",
+    "Open the laptop with smooth surface by lifting its lid.",
+    "Pull the laptop with smooth surface's lid upward.",
+    "Fully open the the silver laptop with dark keys.",
+    "Grip and lift the silver laptop with dark keys's lid.",
+    "With the left arm, open the lightweight silver laptop's lid.",
+    "Open the laptop with smooth surface entirely.",
+    "Use the left arm to raise the laptop with black keyboard.",
+    "Raise the slim laptop lid using the left arm.",
+    "Open the medium-sized silver laptop carefully with the left arm.",
+    "Pull the screen of the rectangular laptop with screen.",
+    "Hold the lightweight silver laptop steady, lift lid.",
+    "Open the lightweight silver laptop lifting with the left arm",
+    "Lift the laptop with black keyboard to open it up",
+    "Raise the medium-sized silver laptop using the left arm.",
+    "Gently open the medium-sized silver laptop upward.",
+    "Fully lift the laptop with smooth surface using the left arm.",
+    "Raise the compact silver laptop lid with the left arm.",
+    "Pull open the laptop with black keyboard",
+    "Lift the laptop with foldable screen design to open.",
+    "Raise the portable slim laptop using the left arm firmly.",
+    "Raise the lightweight silver laptop using the left arm.",
+    "Lift the lightweight silver laptop lid completely.",
+    "Pull the portable slim laptop open with the left arm.",
+    "Lift the medium-sized silver laptop's lid upwards.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Pull the lid of the medium-sized silver laptop upward.",
+    "Raise the top of the silver laptop with dark keys",
+    "Lift and open the silver laptop with dark keys.",
+    "Use the left arm to open the laptop with foldable screen design",
+    "Gently lift the laptop with smooth surface using the left arm",
+    "Pull the medium-sized silver laptop upward lightly.",
+    "Carefully open the rectangular laptop with screen using the left arm",
+    "Gently open the lightweight silver laptop.",
+    "Lift the medium-sized silver laptop's lid using the left arm.",
+    "Raise the lid of the compact silver laptop.",
+    "Gently raise the silver laptop with dark keys using the left arm.",
+    "Raise the laptop with smooth surface to expose the screen"
+  ],
+  "unseen": [
+    "Open the folding laptop with black keyboard with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the silver laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Open the foldable laptop with care",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Lift the folding laptop with black keyboard using the left arm.",
+    "Open the folding laptop with black keyboard carefully using the left arm."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode383.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the black laptop with smooth body open with the right arm.",
+    "Fully open the the rectangular laptop with folding hinge.",
+    "Gently lift the laptop with wide black lid using the right arm",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Use the right arm to open the clamshell laptop with flat screen",
+    "Lift the black laptop with smooth body's lid upwards.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Pull the laptop with shiny black surface's lid upward.",
+    "Open the laptop with rectangular display screen completely.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Pull the rectangular laptop with smooth texture open with the right arm.",
+    "Carefully open the laptop with silver buttons on keyboard using the right arm",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Lift the laptop with wide black lid to open.",
+    "Use the right arm to lift the rectangular laptop with smooth texture",
+    "Raise and open the black laptop.",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "Raise the black laptop lid using the right arm.",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Gently open the clamshell laptop with flat screen upward.",
+    "Grip and lift the laptop with wide black lid's lid.",
+    "Lift and open the black laptop.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Pull the screen of the laptop with rectangular display screen.",
+    "Open the black laptop with smooth body by lifting its lid.",
+    "Use the right arm to raise the black and silver portable laptop.",
+    "Use the right arm to open the rectangular laptop with folding hinge.",
+    "Lift the rectangular laptop with smooth texture's lid using the right arm.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Raise the top of the black and silver portable laptop",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "With the right arm, open the rectangular laptop with folding hinge's lid.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Gently open the rectangular laptop with smooth texture.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "Lift the laptop featuring built-in keyboard to open it up",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Lift the rectangular laptop with folding hinge slightly.",
+    "Raise the black laptop with smooth body using the right arm firmly.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Raise the laptop with wide black lid lid with the right arm.",
+    "Open the laptop with silver keyboard entirely.",
+    "Lift the black laptop lid completely.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Pull open the laptop featuring built-in keyboard",
+    "Slide the laptop with shiny black surface open with the right arm.",
+    "Fully open the the black laptop with smooth body.",
+    "Gently lift the laptop with rectangular display screen using the right arm",
+    "Hold the rectangular laptop with folding hinge steady, lift lid.",
+    "Use the right arm to open the laptop with rectangular display screen",
+    "Lift the black laptop's lid upwards.",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Pull the laptop with rectangular display screen's lid upward.",
+    "Open the laptop with silver buttons on keyboard completely.",
+    "Pull the lid of the black laptop upward.",
+    "Pull the rectangular laptop with folding hinge open with the right arm.",
+    "Carefully open the laptop with silver buttons on keyboard using the right arm",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Lift the laptop with silver keyboard to open.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Lift the black laptop with smooth body open with the right arm.",
+    "Raise the rectangular laptop with smooth texture lid using the right arm.",
+    "Pull up the lid of the clamshell laptop with flat screen",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Gently open the laptop with wide black lid upward.",
+    "Grip and lift the laptop with shiny black surface's lid.",
+    "Lift and open the clamshell laptop with flat screen.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Fully lift the rectangular laptop with smooth texture using the right arm.",
+    "Pull the screen of the rectangular laptop with folding hinge.",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Lift the laptop with silver buttons on keyboard's lid using the right arm.",
+    "Gently raise the laptop with shiny black surface using the right arm.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Open the rectangular laptop with folding hinge carefully with the right arm.",
+    "With the right arm, open the black laptop's lid.",
+    "Raise the laptop with wide black lid to expose the screen",
+    "Use the right arm to raise the black laptop with smooth body.",
+    "Gently open the clamshell laptop with flat screen.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Lift the clamshell laptop with flat screen to open it up",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the black laptop slightly.",
+    "Raise the laptop with silver buttons on keyboard using the right arm firmly.",
+    "Push the laptop with rectangular display screen's lid upward using the right arm.",
+    "Raise the black laptop with smooth body lid with the right arm.",
+    "Open the black and silver portable laptop entirely.",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Raise the lid of the laptop with shiny black surface.",
+    "Pull open the black laptop"
+  ],
+  "unseen": [
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode385.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to raise the rectangular black laptop.",
+    "Gently open the portable folding laptop.",
+    "Use the right arm to open the portable folding laptop.",
+    "Pull open the laptop with smooth keyboard area",
+    "Use the right arm to raise the laptop with rectangular base.",
+    "Pull up the lid of the rectangular black laptop",
+    "Use the right arm to open the black plastic laptop with blue display.",
+    "Open the laptop with blue screen completely.",
+    "Pull the screen and keyboard laptop open with the right arm.",
+    "Raise the lid of the sleek black laptop with blue monitor.",
+    "Pull the lid of the laptop with rectangular base upward.",
+    "Fully lift the black plastic laptop with blue display using the right arm.",
+    "Open the blue-screen laptop with flat keys lifting with the right arm",
+    "Grip and lift the black laptop's lid.",
+    "Pull the folding laptop with black exterior's lid upward.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Lift the laptop with blue screen open with the right arm.",
+    "Raise the top of the blue-screen laptop with flat keys",
+    "Raise the rectangular black laptop using the right arm.",
+    "Use the right arm to raise the folding laptop with black exterior.",
+    "Lift the laptop with smooth keyboard area lid completely.",
+    "Raise the laptop with smooth matte surface lid using the right arm.",
+    "Lift and open the blue-screen laptop with flat keys.",
+    "With the right arm, open the rectangular black laptop's lid.",
+    "Open the black plastic laptop with blue display by lifting its lid.",
+    "Lift the screen and keyboard laptop's lid using the right arm.",
+    "Pull the black laptop upward lightly.",
+    "Slide the laptop with blue screen open with the right arm.",
+    "Raise the laptop with smooth matte surface using the right arm firmly.",
+    "Lift the laptop with rectangular base's lid upwards.",
+    "Pull the screen of the laptop with rectangular base.",
+    "Lift the black plastic laptop with blue display to open it up",
+    "Gently open the blue-screen laptop with flat keys upward.",
+    "Use the right arm to lift the black laptop",
+    "Lift the sleek black laptop with blue monitor slightly.",
+    "Raise the laptop with blue screen using the right arm.",
+    "Raise the screen and keyboard laptop's top section.",
+    "Fully open the the black laptop.",
+    "Use the right arm to open the laptop with rectangular base",
+    "Open the sleek black laptop with blue monitor carefully with the right arm.",
+    "Raise the black plastic laptop with blue display lid with the right arm.",
+    "Raise and open the laptop with blue screen.",
+    "Gently raise the rectangular black laptop using the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Push the blue-screen laptop with flat keys's lid upward using the right arm.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Lift the black laptop to open.",
+    "Carefully open the laptop with blue screen using the right arm",
+    "Raise the black plastic laptop with blue display to expose the screen",
+    "Open the laptop with smooth matte surface entirely.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Gently open the sleek black laptop with blue monitor.",
+    "Use the right arm to open the screen and keyboard laptop.",
+    "Pull open the laptop with smooth matte surface",
+    "Use the right arm to raise the black plastic laptop with blue display.",
+    "Pull up the lid of the sleek black laptop with blue monitor",
+    "Use the right arm to open the rectangular black laptop.",
+    "Open the laptop with rectangular base completely.",
+    "Pull the sleek black laptop with blue monitor open with the right arm.",
+    "Raise the lid of the folding laptop with black exterior.",
+    "Pull the lid of the laptop with rectangular base upward.",
+    "Fully lift the sleek black laptop with blue monitor using the right arm.",
+    "Open the rectangular black laptop lifting with the right arm",
+    "Grip and lift the rectangular black laptop's lid.",
+    "Pull the folding laptop with black exterior's lid upward.",
+    "Hold the laptop with smooth matte surface steady, lift lid.",
+    "Lift the laptop with rectangular base open with the right arm.",
+    "Raise the top of the black plastic laptop with blue display",
+    "Raise the blue-screen laptop with flat keys using the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Lift the laptop with smooth keyboard area lid completely.",
+    "Raise the laptop with rectangular base lid using the right arm.",
+    "Lift and open the black plastic laptop with blue display.",
+    "With the right arm, open the laptop with rectangular base's lid.",
+    "Open the laptop with rectangular base by lifting its lid.",
+    "Lift the rectangular black laptop's lid using the right arm.",
+    "Pull the laptop with smooth matte surface upward lightly.",
+    "Slide the folding laptop with black exterior open with the right arm.",
+    "Raise the black laptop using the right arm firmly.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Pull the screen of the laptop with rectangular base.",
+    "Lift the laptop with smooth keyboard area to open it up",
+    "Gently open the black laptop upward.",
+    "Use the right arm to lift the portable folding laptop",
+    "Lift the sleek black laptop with blue monitor slightly.",
+    "Raise the rectangular black laptop using the right arm.",
+    "Raise the rectangular black laptop's top section.",
+    "Fully open the the laptop with blue screen.",
+    "Use the right arm to open the screen and keyboard laptop",
+    "Open the laptop with blue screen carefully with the right arm.",
+    "Raise the laptop with blue screen lid with the right arm.",
+    "Raise and open the laptop with smooth matte surface.",
+    "Gently raise the sleek black laptop with blue monitor using the right arm.",
+    "Use the right arm to open the laptop with smooth keyboard area.",
+    "Push the blue-screen laptop with flat keys's lid upward using the right arm.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Lift the black laptop to open.",
+    "Carefully open the laptop with blue screen using the right arm",
+    "Raise the black laptop to expose the screen",
+    "Open the laptop with smooth matte surface entirely."
+  ],
+  "unseen": [
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges using the right arm",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Lift the black laptop with shiny hinges using the right arm",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the medium-sized black laptop with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges using the right arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with shiny hinges using the right arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Pull up the black laptop with compact design's lid.",
+    "Open the medium-sized black laptop carefully using the right arm.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the medium-sized black laptop with care",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with compact design carefully using the right arm.",
+    "Lift the black laptop with compact design using the right arm.",
+    "Lift the medium-sized black laptop using the right arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with shiny hinges using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the black laptop with shiny hinges using the right arm.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the right arm.",
+    "Lift the medium-sized black laptop's lid gently.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Open the black laptop with shiny hinges carefully using the right arm.",
+    "Lift the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with compact design using the right arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the medium-sized black laptop using the right arm.",
+    "Lift the black laptop with shiny hinges's lid gently."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode408.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Raise the lid of the Toshiba laptop.",
+    "Carefully open the black laptop using the right arm",
+    "Lift the foldable black laptop to open it up",
+    "Lift the black laptop with red Toshiba logo open with the right arm.",
+    "Pull open the folding laptop with screen and keyboard",
+    "Pull the lid of the black laptop with hinge mechanism upward.",
+    "Gently open the black laptop with red text underneath upward.",
+    "Raise and open the black laptop with red text underneath.",
+    "Raise the sleek black Toshiba computing laptop using the right arm firmly.",
+    "Raise the foldable black laptop using the right arm.",
+    "Gently raise the Toshiba laptop using the right arm.",
+    "Open the black laptop carefully with the right arm.",
+    "Lift the foldable black laptop lid completely.",
+    "Raise the top of the black laptop",
+    "Use the right arm to lift the portable folding Toshiba laptop",
+    "Use the right arm to open the portable folding Toshiba laptop.",
+    "Use the right arm to raise the medium black rectangular laptop.",
+    "Fully open the the black laptop with red Toshiba logo.",
+    "Use the right arm to open the black laptop with red text underneath.",
+    "Raise the sleek black Toshiba computing laptop lid using the right arm.",
+    "Pull the black laptop with red Toshiba logo's lid upward.",
+    "Grip and lift the black laptop with hinge mechanism's lid.",
+    "Hold the Toshiba laptop steady, lift lid.",
+    "Open the Toshiba laptop lifting with the right arm",
+    "Gently open the portable folding Toshiba laptop.",
+    "Slide the black laptop open with the right arm.",
+    "Raise the Toshiba laptop with rectangular screen using the right arm.",
+    "Pull the Toshiba laptop with rectangular screen open with the right arm.",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Use the right arm to open the medium black rectangular laptop.",
+    "Lift the medium black rectangular laptop's lid using the right arm.",
+    "Pull the foldable black laptop upward lightly.",
+    "Gently lift the sleek black Toshiba computing laptop using the right arm",
+    "Open the sleek black Toshiba computing laptop completely.",
+    "Raise the portable folding Toshiba laptop's top section.",
+    "Use the right arm to raise the portable folding Toshiba laptop.",
+    "Open the black laptop with smooth matte surface entirely.",
+    "Fully lift the black laptop with red Toshiba logo using the right arm.",
+    "Raise the black laptop with smooth matte surface to expose the screen",
+    "Raise the medium black rectangular laptop lid with the right arm.",
+    "Lift and open the black laptop with hinge mechanism.",
+    "Pull the screen of the black laptop with smooth matte surface.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Use the right arm to raise the black laptop with smooth matte surface.",
+    "Use the right arm to open the sleek black Toshiba computing laptop",
+    "Lift the black laptop with hinge mechanism's lid upwards.",
+    "Lift the black laptop with hinge mechanism to open.",
+    "With the right arm, open the sleek black Toshiba computing laptop's lid.",
+    "Lift the black laptop with red Toshiba logo slightly.",
+    "Push the black laptop's lid upward using the right arm.",
+    "Raise the lid of the foldable black laptop.",
+    "Carefully open the Toshiba laptop using the right arm",
+    "Lift the portable folding Toshiba laptop to open it up",
+    "Lift the black laptop with hinge mechanism open with the right arm.",
+    "Pull open the foldable black laptop",
+    "Pull the lid of the Toshiba laptop upward.",
+    "Gently open the Toshiba laptop upward.",
+    "Raise and open the medium black rectangular laptop.",
+    "Raise the sleek black Toshiba computing laptop using the right arm firmly.",
+    "Raise the black laptop with red text underneath using the right arm.",
+    "Gently raise the portable folding Toshiba laptop using the right arm.",
+    "Open the Toshiba laptop with rectangular screen carefully with the right arm.",
+    "Lift the medium black rectangular laptop lid completely.",
+    "Raise the top of the Toshiba laptop",
+    "Use the right arm to lift the sleek black Toshiba computing laptop",
+    "Use the right arm to open the sleek black Toshiba computing laptop.",
+    "Use the right arm to raise the Toshiba laptop.",
+    "Fully open the the sleek black Toshiba computing laptop.",
+    "Use the right arm to open the black laptop with red text underneath.",
+    "Raise the Toshiba laptop lid using the right arm.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Grip and lift the Toshiba laptop with rectangular screen's lid.",
+    "Hold the black laptop with smooth matte surface steady, lift lid.",
+    "Open the black laptop with red text underneath lifting with the right arm",
+    "Gently open the medium black rectangular laptop.",
+    "Slide the black laptop with hinge mechanism open with the right arm.",
+    "Raise the Toshiba laptop using the right arm.",
+    "Pull the medium black rectangular laptop open with the right arm.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Use the right arm to open the medium black rectangular laptop.",
+    "Lift the black laptop with smooth matte surface's lid using the right arm.",
+    "Pull the black laptop with red text underneath upward lightly.",
+    "Gently lift the foldable black laptop using the right arm",
+    "Open the portable folding Toshiba laptop completely.",
+    "Raise the sleek black Toshiba computing laptop's top section.",
+    "Use the right arm to raise the Toshiba laptop.",
+    "Open the folding laptop with screen and keyboard entirely.",
+    "Fully lift the black laptop with red text underneath using the right arm.",
+    "Raise the black laptop with red text underneath to expose the screen",
+    "Raise the Toshiba laptop lid with the right arm.",
+    "Lift and open the sleek black Toshiba computing laptop.",
+    "Pull the screen of the black laptop.",
+    "Pull up the lid of the Toshiba laptop",
+    "Use the right arm to raise the Toshiba laptop with rectangular screen.",
+    "Use the right arm to open the Toshiba laptop with rectangular screen",
+    "Lift the Toshiba laptop's lid upwards.",
+    "Lift the Toshiba laptop to open.",
+    "With the right arm, open the portable folding Toshiba laptop's lid.",
+    "Lift the Toshiba laptop slightly."
+  ],
+  "unseen": [
+    "Open the black laptop slightly rounded at edges using the right arm.",
+    "Lift the medium-sized laptop for portable use using the right arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop fitting laptop bags using the right arm.",
+    "Lift the medium-sized laptop for portable use using the right arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop slightly rounded at edges using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop fitting laptop bags using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the medium-sized laptop for portable use using the right arm",
+    "Open the black laptop slightly rounded at edges using the right arm.",
+    "Lift the black laptop slightly rounded at edges using the right arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop slightly rounded at edges using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop fitting laptop bags using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the black laptop slightly rounded at edges using the right arm.",
+    "Lift the medium-sized laptop for portable use using the right arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the right arm.",
+    "Lift the medium-sized laptop for portable use using the right arm",
+    "Open the black laptop fitting laptop bags using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop fitting laptop bags using the right arm",
+    "Open the medium-sized laptop for portable use using the right arm.",
+    "Lift the black laptop slightly rounded at edges using the right arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the right arm.",
+    "Lift the black laptop slightly rounded at edges using the right arm"
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode412.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rectangular laptop with hinge's lid upwards.",
+    "Open the laptop with silver base entirely.",
+    "Raise the laptop for computing lid using the right arm.",
+    "Raise the laptop with silver base to expose the screen",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Raise the laptop with smooth texture's top section.",
+    "Raise the rectangular laptop with hinge using the right arm.",
+    "Lift the laptop with glass screen's lid using the right arm.",
+    "Fully open the the metallic laptop.",
+    "With the right arm, open the laptop featuring smooth metal finish's lid.",
+    "Use the right arm to lift the medium-sized laptop",
+    "Gently open the laptop with silver base upward.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Open the laptop for computing carefully with the right arm.",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Pull up the lid of the laptop with silver base",
+    "Lift the laptop with glass screen slightly.",
+    "Gently lift the laptop for computing using the right arm",
+    "Raise the top of the blue-screen laptop",
+    "Pull the hinged laptop with display upward lightly.",
+    "Raise the laptop for computing using the right arm.",
+    "Lift and open the laptop for computing.",
+    "Lift the laptop with smooth texture to open it up",
+    "Lift the laptop for computing lid completely.",
+    "Pull open the laptop featuring smooth metal finish",
+    "Gently raise the laptop with blue screen using the right arm.",
+    "Open the laptop with glass screen completely.",
+    "Open the laptop with smooth texture lifting with the right arm",
+    "Fully lift the medium-sized laptop using the right arm.",
+    "Pull the lid of the portable silver laptop upward.",
+    "Pull the screen of the portable silver laptop.",
+    "Use the right arm to raise the laptop with glass screen.",
+    "Raise the hinged laptop with display lid with the right arm.",
+    "Grip and lift the hinged laptop with display's lid.",
+    "Pull the laptop with glass screen's lid upward.",
+    "Slide the laptop with smooth texture open with the right arm.",
+    "Use the right arm to open the rectangular laptop with hinge.",
+    "Carefully open the laptop with silver base using the right arm",
+    "Lift the blue-screen laptop open with the right arm.",
+    "Raise the lid of the laptop featuring smooth metal finish.",
+    "Gently open the portable silver laptop.",
+    "Raise and open the metallic laptop.",
+    "Lift the portable silver laptop to open.",
+    "Raise the portable silver laptop using the right arm firmly.",
+    "Pull the metallic laptop open with the right arm.",
+    "Open the hinged laptop with display by lifting its lid.",
+    "Use the right arm to raise the metallic laptop.",
+    "Push the blue-screen laptop's lid upward using the right arm.",
+    "Hold the hinged laptop with display steady, lift lid.",
+    "Use the right arm to open the blue-screen laptop",
+    "Lift the laptop with glass screen's lid upwards.",
+    "Open the laptop featuring smooth metal finish entirely.",
+    "Raise the blue-screen laptop lid using the right arm.",
+    "Raise the laptop with smooth texture to expose the screen",
+    "Use the right arm to open the metallic laptop.",
+    "Raise the medium-sized laptop's top section.",
+    "Raise the laptop with blue screen using the right arm.",
+    "Lift the portable silver laptop's lid using the right arm.",
+    "Fully open the the laptop with glass screen.",
+    "With the right arm, open the laptop with smooth texture's lid.",
+    "Use the right arm to lift the medium-sized laptop",
+    "Gently open the laptop featuring smooth metal finish upward.",
+    "Use the right arm to raise the metallic laptop.",
+    "Open the metallic laptop carefully with the right arm.",
+    "Use the right arm to open the laptop featuring smooth metal finish.",
+    "Pull up the lid of the hinged laptop with display",
+    "Lift the laptop for computing slightly.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Raise the top of the laptop with silver base",
+    "Pull the portable silver laptop upward lightly.",
+    "Raise the laptop for computing using the right arm.",
+    "Lift and open the rectangular laptop with hinge.",
+    "Lift the blue-screen laptop to open it up",
+    "Lift the laptop with blue screen lid completely.",
+    "Pull open the laptop with silver base",
+    "Gently raise the laptop with silver base using the right arm.",
+    "Open the rectangular laptop with hinge completely.",
+    "Open the hinged laptop with display lifting with the right arm",
+    "Fully lift the hinged laptop with display using the right arm.",
+    "Pull the lid of the laptop featuring smooth metal finish upward.",
+    "Pull the screen of the laptop for computing.",
+    "Use the right arm to raise the blue-screen laptop.",
+    "Raise the laptop with smooth texture lid with the right arm.",
+    "Grip and lift the laptop with glass screen's lid.",
+    "Pull the laptop with smooth texture's lid upward.",
+    "Slide the laptop for computing open with the right arm.",
+    "Use the right arm to open the laptop with glass screen.",
+    "Carefully open the rectangular laptop with hinge using the right arm",
+    "Lift the laptop with smooth texture open with the right arm.",
+    "Raise the lid of the medium-sized laptop.",
+    "Gently open the laptop with silver base.",
+    "Raise and open the blue-screen laptop.",
+    "Lift the rectangular laptop with hinge to open.",
+    "Raise the laptop with smooth texture using the right arm firmly.",
+    "Pull the blue-screen laptop open with the right arm.",
+    "Open the rectangular laptop with hinge by lifting its lid.",
+    "Use the right arm to raise the laptop with silver base.",
+    "Push the hinged laptop with display's lid upward using the right arm.",
+    "Hold the laptop with silver base steady, lift lid.",
+    "Use the right arm to open the laptop with silver base"
+  ],
+  "unseen": [
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the sleek laptop using the right arm",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Pull up the sleek laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the sleek laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Open the compact silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the compact silver laptop and open it.",
+    "Lift the silver laptop's lid fully.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Open the compact silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the silver laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the compact silver laptop's lid.",
+    "Lift the compact silver laptop using the right arm",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with care",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop using the right arm",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Open the sleek laptop using the right arm.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with care"
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode419.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the metallic laptop using the left arm.",
+    "Use the left arm to raise the rectangular laptop with hinge.",
+    "Open the blue-screen laptop by lifting its lid.",
+    "Use the left arm to open the laptop with blue screen.",
+    "Carefully open the blue-screen laptop using the left arm",
+    "Open the portable silver laptop entirely.",
+    "With the left arm, open the blue-screen laptop's lid.",
+    "Lift the laptop with smooth texture's lid upwards.",
+    "Raise the hinged laptop with display lid with the left arm.",
+    "Lift the laptop with smooth texture to open it up",
+    "Lift the laptop featuring smooth metal finish open with the left arm.",
+    "Pull the medium-sized laptop's lid upward.",
+    "Pull the screen of the laptop with glass screen.",
+    "Lift the laptop with silver base's lid using the left arm.",
+    "Lift the hinged laptop with display slightly.",
+    "Hold the laptop with glass screen steady, lift lid.",
+    "Fully lift the metallic laptop using the left arm.",
+    "Pull the lid of the hinged laptop with display upward.",
+    "Lift the metallic laptop lid completely.",
+    "Gently lift the laptop with glass screen using the left arm",
+    "Grip and lift the laptop with blue screen's lid.",
+    "Use the left arm to raise the laptop with smooth texture.",
+    "Use the left arm to open the blue-screen laptop.",
+    "Gently open the portable silver laptop upward.",
+    "Open the laptop with blue screen carefully with the left arm.",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Raise the hinged laptop with display's top section.",
+    "Pull open the portable silver laptop",
+    "Lift the laptop with blue screen to open.",
+    "Push the rectangular laptop with hinge's lid upward using the left arm.",
+    "Pull the laptop with smooth texture upward lightly.",
+    "Gently raise the medium-sized laptop using the left arm.",
+    "Raise the laptop with silver base using the left arm firmly.",
+    "Open the rectangular laptop with hinge completely.",
+    "Use the left arm to open the metallic laptop",
+    "Raise and open the medium-sized laptop.",
+    "Use the left arm to open the rectangular laptop with hinge.",
+    "Slide the rectangular laptop with hinge open with the left arm.",
+    "Raise the lid of the laptop with smooth texture.",
+    "Raise the laptop for computing using the left arm.",
+    "Use the left arm to raise the laptop featuring smooth metal finish.",
+    "Raise the top of the laptop with smooth texture",
+    "Pull up the lid of the rectangular laptop with hinge",
+    "Raise the laptop featuring smooth metal finish to expose the screen",
+    "Pull the hinged laptop with display open with the left arm.",
+    "Use the left arm to lift the laptop with silver base",
+    "Lift and open the medium-sized laptop.",
+    "Gently open the laptop with blue screen.",
+    "Raise the laptop for computing lid using the left arm.",
+    "Fully open the the laptop with silver base.",
+    "Raise the laptop with glass screen using the left arm.",
+    "Use the left arm to raise the laptop featuring smooth metal finish.",
+    "Open the laptop with blue screen by lifting its lid.",
+    "Use the left arm to open the laptop for computing.",
+    "Carefully open the laptop with glass screen using the left arm",
+    "Open the hinged laptop with display entirely.",
+    "With the left arm, open the metallic laptop's lid.",
+    "Lift the hinged laptop with display's lid upwards.",
+    "Raise the rectangular laptop with hinge lid with the left arm.",
+    "Lift the laptop with smooth texture to open it up",
+    "Lift the laptop featuring smooth metal finish open with the left arm.",
+    "Pull the laptop with blue screen's lid upward.",
+    "Pull the screen of the medium-sized laptop.",
+    "Lift the laptop featuring smooth metal finish's lid using the left arm.",
+    "Lift the laptop for computing slightly.",
+    "Hold the blue-screen laptop steady, lift lid.",
+    "Fully lift the metallic laptop using the left arm.",
+    "Pull the lid of the hinged laptop with display upward.",
+    "Lift the laptop with blue screen lid completely.",
+    "Gently lift the laptop with blue screen using the left arm",
+    "Grip and lift the metallic laptop's lid.",
+    "Use the left arm to raise the blue-screen laptop.",
+    "Use the left arm to open the laptop featuring smooth metal finish.",
+    "Gently open the laptop for computing upward.",
+    "Open the rectangular laptop with hinge carefully with the left arm.",
+    "Open the metallic laptop lifting with the left arm",
+    "Raise the portable silver laptop's top section.",
+    "Pull open the metallic laptop",
+    "Lift the metallic laptop to open.",
+    "Push the laptop with glass screen's lid upward using the left arm.",
+    "Pull the metallic laptop upward lightly.",
+    "Gently raise the blue-screen laptop using the left arm.",
+    "Raise the hinged laptop with display using the left arm firmly.",
+    "Open the rectangular laptop with hinge completely.",
+    "Use the left arm to open the metallic laptop",
+    "Raise and open the hinged laptop with display.",
+    "Use the left arm to open the portable silver laptop.",
+    "Slide the laptop with glass screen open with the left arm.",
+    "Raise the lid of the laptop with blue screen.",
+    "Raise the laptop with smooth texture using the left arm.",
+    "Use the left arm to raise the laptop featuring smooth metal finish.",
+    "Raise the top of the laptop with smooth texture",
+    "Pull up the lid of the laptop with smooth texture",
+    "Raise the laptop with glass screen to expose the screen",
+    "Pull the rectangular laptop with hinge open with the left arm.",
+    "Use the left arm to lift the metallic laptop",
+    "Lift and open the hinged laptop with display.",
+    "Gently open the medium-sized laptop.",
+    "Raise the portable silver laptop lid using the left arm.",
+    "Fully open the the laptop with silver base."
+  ],
+  "unseen": [
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the compact silver laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the compact silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the compact silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Lift the sleek laptop's lid gently.",
+    "Pull up the compact silver laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the compact silver laptop with care",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the silver laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Lift the silver laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the sleek laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the sleek laptop using the left arm",
+    "Lift the sleek laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the silver laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the left arm.",
+    "Lift the compact silver laptop using the left arm",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with one motion.",
+    "Lift the silver laptop's lid gently.",
+    "Pull up the silver laptop's lid.",
+    "Open the silver laptop carefully using the left arm.",
+    "Open the sleek laptop using the left arm.",
+    "Open the sleek laptop with care",
+    "Grab the sleek laptop and open it.",
+    "Lift the sleek laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Lift the compact silver laptop's lid fully.",
+    "Open the compact silver laptop with one motion.",
+    "Lift the sleek laptop's lid gently."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode425.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black-and-blue laptop with keyboard's top section.",
+    "Use the right arm to raise the blue-black laptop.",
+    "Lift the portable laptop's lid using the right arm.",
+    "Use the right arm to open the portable laptop.",
+    "Raise the blue bottom foldable black laptop using the right arm.",
+    "Pull the portable laptop open with the right arm.",
+    "Slide the foldable laptop with screen open with the right arm.",
+    "Raise the lid of the blue base black lid laptop.",
+    "Use the right arm to open the black-and-blue laptop with keyboard.",
+    "Gently open the rectangular laptop with foldable hinge upward.",
+    "Lift the blue bottom foldable black laptop to open.",
+    "Pull the blue-black laptop's lid upward.",
+    "Use the right arm to raise the black laptop with sharp rectangular edges.",
+    "Open the rectangular laptop with foldable hinge lifting with the right arm",
+    "Pull open the compact black laptop",
+    "Gently lift the compact black laptop using the right arm",
+    "Use the right arm to lift the rectangular laptop with foldable hinge",
+    "Raise the compact black laptop using the right arm.",
+    "Use the right arm to raise the black laptop with sharp rectangular edges.",
+    "Raise the blue-black laptop using the right arm firmly.",
+    "Lift the black laptop with sharp rectangular edges to open it up",
+    "Lift and open the rectangular laptop with foldable hinge.",
+    "Fully lift the laptop for browsing and computing using the right arm.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Gently open the blue-black laptop.",
+    "Fully open the the blue-black laptop.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Open the portable laptop entirely.",
+    "Open the blue base black lid laptop completely.",
+    "Lift the laptop for browsing and computing's lid upwards.",
+    "Raise and open the rectangular laptop with foldable hinge.",
+    "Use the right arm to open the compact black laptop",
+    "Push the rectangular laptop with foldable hinge's lid upward using the right arm.",
+    "Carefully open the rectangular laptop with foldable hinge using the right arm",
+    "Raise the portable laptop to expose the screen",
+    "Gently raise the blue bottom foldable black laptop using the right arm.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Lift the black laptop with sharp rectangular edges open with the right arm.",
+    "Pull the black-and-blue laptop with keyboard upward lightly.",
+    "Open the black-and-blue laptop with keyboard by lifting its lid.",
+    "Lift the foldable laptop with screen slightly.",
+    "Raise the top of the compact black laptop",
+    "Pull up the lid of the foldable laptop with screen",
+    "Use the right arm to open the portable laptop.",
+    "Raise the laptop for browsing and computing lid with the right arm.",
+    "Open the portable laptop carefully with the right arm.",
+    "With the right arm, open the foldable laptop with screen's lid.",
+    "Grip and lift the blue bottom foldable black laptop's lid.",
+    "Raise the black laptop with sharp rectangular edges lid using the right arm.",
+    "Pull the lid of the black laptop with sharp rectangular edges upward.",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Use the right arm to raise the portable laptop.",
+    "Lift the black laptop with sharp rectangular edges's lid using the right arm.",
+    "Use the right arm to open the black laptop with blue bottom panel.",
+    "Raise the black laptop with sharp rectangular edges using the right arm.",
+    "Pull the blue-black laptop open with the right arm.",
+    "Slide the laptop for browsing and computing open with the right arm.",
+    "Raise the lid of the blue base black lid laptop.",
+    "Use the right arm to open the compact black laptop.",
+    "Gently open the laptop for browsing and computing upward.",
+    "Lift the black laptop with blue bottom panel to open.",
+    "Pull the laptop for browsing and computing's lid upward.",
+    "Use the right arm to raise the black laptop with blue bottom panel.",
+    "Open the blue-black laptop lifting with the right arm",
+    "Pull open the compact black laptop",
+    "Gently lift the black laptop with blue bottom panel using the right arm",
+    "Use the right arm to lift the black-and-blue laptop with keyboard",
+    "Raise the laptop for browsing and computing using the right arm.",
+    "Use the right arm to raise the blue base black lid laptop.",
+    "Raise the black laptop with sharp rectangular edges using the right arm firmly.",
+    "Lift the laptop for browsing and computing to open it up",
+    "Lift and open the blue bottom foldable black laptop.",
+    "Fully lift the medium-sized laptop for work using the right arm.",
+    "Lift the blue-black laptop lid completely.",
+    "Gently open the portable laptop.",
+    "Fully open the the portable laptop.",
+    "Pull the screen of the foldable laptop with screen.",
+    "Open the portable laptop entirely.",
+    "Open the laptop for browsing and computing completely.",
+    "Lift the black-and-blue laptop with keyboard's lid upwards.",
+    "Raise and open the portable laptop.",
+    "Use the right arm to open the laptop for browsing and computing",
+    "Push the medium-sized laptop for work's lid upward using the right arm.",
+    "Carefully open the black laptop with sharp rectangular edges using the right arm",
+    "Raise the blue base black lid laptop to expose the screen",
+    "Gently raise the blue base black lid laptop using the right arm.",
+    "Hold the portable laptop steady, lift lid.",
+    "Lift the laptop for browsing and computing open with the right arm.",
+    "Pull the foldable laptop with screen upward lightly.",
+    "Open the portable laptop by lifting its lid.",
+    "Lift the blue-black laptop slightly.",
+    "Raise the top of the blue base black lid laptop",
+    "Pull up the lid of the blue-black laptop",
+    "Use the right arm to open the blue-black laptop.",
+    "Raise the black laptop with blue bottom panel lid with the right arm.",
+    "Open the blue bottom foldable black laptop carefully with the right arm.",
+    "With the right arm, open the medium-sized laptop for work's lid.",
+    "Grip and lift the black laptop with blue bottom panel's lid.",
+    "Raise the black-and-blue laptop with keyboard lid using the right arm.",
+    "Pull the lid of the black laptop with blue bottom panel upward."
+  ],
+  "unseen": [
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard using the right arm",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the laptop with display and keyboard using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Open the laptop with display and keyboard with care",
+    "Lift the black laptop using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the right arm",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with care",
+    "Lift the smooth black plastic laptop using the right arm.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the black laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the black laptop with care",
+    "Lift the black laptop using the right arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the right arm.",
+    "Open the smooth black plastic laptop carefully using the right arm.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with care",
+    "Lift the black laptop using the right arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the right arm",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard using the right arm.",
+    "Open the laptop with display and keyboard carefully using the right arm.",
+    "Open the black laptop with one motion."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode487.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black and silver laptop lid using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo using the right arm firmly.",
+    "Pull up the lid of the black and silver laptop",
+    "Use the right arm to open the compact black and silver computer",
+    "Raise the Toshiba laptop with folding design using the right arm.",
+    "Fully lift the device with flat keyboard and screen using the right arm.",
+    "Pull the Toshiba laptop with folding design open with the right arm.",
+    "Open the Toshiba laptop with folding design lifting with the right arm",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the portable folding laptop lid with the right arm.",
+    "Pull open the portable folding laptop",
+    "Gently raise the portable folding laptop using the right arm.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the right arm to raise the black laptop with reflective screen.",
+    "Open the black laptop with reflective screen entirely.",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "With the right arm, open the Toshiba laptop with folding design's lid.",
+    "Lift the black laptop with reflective screen lid completely.",
+    "Use the right arm to open the matte laptop with smooth screen.",
+    "Open the medium-sized laptop by lifting its lid.",
+    "Pull the device with flat keyboard and screen upward lightly.",
+    "Fully open the the portable folding laptop.",
+    "Pull the lid of the silver keyboard laptop upward.",
+    "Open the portable folding laptop carefully with the right arm.",
+    "Use the right arm to lift the folding laptop with screen and keyboard",
+    "Raise the lid of the medium-sized laptop.",
+    "Slide the compact black and silver computer open with the right arm.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Open the Toshiba laptop with folding design completely.",
+    "Pull the portable folding laptop's lid upward.",
+    "Gently lift the device with flat keyboard and screen using the right arm",
+    "Lift the matte laptop with smooth screen slightly.",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Raise the top of the silver keyboard laptop",
+    "Pull the screen of the Toshiba laptop with folding design.",
+    "Raise and open the silver keyboard laptop.",
+    "Use the right arm to open the portable folding laptop.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Lift and open the laptop with silver keyboard.",
+    "Gently open the medium-sized laptop.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Gently open the portable folding laptop upward.",
+    "Use the right arm to raise the silver keyboard laptop.",
+    "Push the device with flat keyboard and screen's lid upward using the right arm.",
+    "Lift the Toshiba laptop with folding design's lid upwards.",
+    "Use the right arm to open the silver keyboard laptop.",
+    "Lift the Toshiba laptop with folding design to open it up",
+    "Raise the portable folding laptop lid using the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Pull up the lid of the portable folding laptop",
+    "Use the right arm to open the matte laptop with smooth screen",
+    "Raise the compact black and silver computer using the right arm.",
+    "Fully lift the folding laptop with screen and keyboard using the right arm.",
+    "Pull the device with flat keyboard and screen open with the right arm.",
+    "Open the silver keyboard laptop lifting with the right arm",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the black laptop with reflective screen lid with the right arm.",
+    "Pull open the compact black and silver computer",
+    "Gently raise the laptop with silver keyboard using the right arm.",
+    "Raise the black laptop with reflective screen to expose the screen",
+    "Use the right arm to raise the portable folding laptop.",
+    "Open the portable folding laptop entirely.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Lift the medium-sized laptop open with the right arm.",
+    "With the right arm, open the black laptop with reflective screen's lid.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Open the laptop with silver keyboard by lifting its lid.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Fully open the the Toshiba laptop with folding design.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Open the laptop with silver keyboard carefully with the right arm.",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Raise the lid of the black laptop with reflective screen.",
+    "Slide the silver keyboard laptop open with the right arm.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Open the compact black and silver computer completely.",
+    "Pull the compact black and silver computer's lid upward.",
+    "Gently lift the black laptop with reflective screen using the right arm",
+    "Lift the black and silver laptop slightly.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Raise the top of the laptop with silver keyboard",
+    "Pull the screen of the rectangular laptop with Toshiba logo.",
+    "Raise and open the compact black and silver computer.",
+    "Use the right arm to open the medium-sized laptop.",
+    "Grip and lift the rectangular laptop with Toshiba logo's lid.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Lift the folding laptop with screen and keyboard to open.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Lift the black laptop with reflective screen's lid using the right arm.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Use the right arm to raise the portable folding laptop.",
+    "Push the silver keyboard laptop's lid upward using the right arm.",
+    "Lift the medium-sized laptop's lid upwards.",
+    "Use the right arm to open the device with flat keyboard and screen.",
+    "Lift the Toshiba laptop with folding design to open it up"
+  ],
+  "unseen": [
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the computer with black screen using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid fully.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer using the right arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen using the right arm",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid fully.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the right arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the laptop computer using the right arm.",
+    "Pull up the laptop computer's lid."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode54.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the lightweight laptop.",
+    "Pull open the black laptop",
+    "Open the laptop with red logo underside carefully with the left arm.",
+    "Pull the lid of the laptop featuring textured exterior upward.",
+    "Carefully open the laptop with red logo underside using the left arm",
+    "Lift the laptop with screen and keyboard's lid upwards.",
+    "Lift the black laptop with red accents open with the left arm.",
+    "Gently open the medium-sized laptop with black body upward.",
+    "Slide the sleek laptop design open with the left arm.",
+    "Open the foldable laptop with patterned keyboard by lifting its lid.",
+    "Use the left arm to open the compact black laptop",
+    "Grip and lift the compact black laptop's lid.",
+    "Lift and open the lightweight laptop.",
+    "Lift the black laptop with red accents to open it up",
+    "Open the lightweight laptop lifting with the left arm",
+    "Raise the sleek laptop design lid with the left arm.",
+    "Raise the black laptop with red accents to expose the screen",
+    "Raise the laptop featuring textured exterior using the left arm.",
+    "Use the left arm to open the hinged laptop with screen and base.",
+    "Lift the black laptop's lid using the left arm.",
+    "Pull the medium-sized laptop with black body's lid upward.",
+    "Raise and open the lightweight laptop.",
+    "Fully lift the sleek laptop design using the left arm.",
+    "Pull the hinged laptop with screen and base upward lightly.",
+    "Raise the black metallic laptop's top section.",
+    "Pull up the lid of the hinged laptop with screen and base",
+    "Open the laptop featuring textured exterior entirely.",
+    "Use the left arm to lift the black laptop with red accents",
+    "Lift the laptop with red logo underside lid completely.",
+    "Lift the black laptop with red accents slightly.",
+    "Raise the lid of the lightweight laptop.",
+    "Use the left arm to raise the black laptop with red accents.",
+    "Fully open the the lightweight laptop.",
+    "Use the left arm to open the laptop featuring textured exterior.",
+    "Gently lift the lightweight laptop using the left arm",
+    "Gently open the black metallic laptop.",
+    "Pull the screen of the black laptop with red accents.",
+    "With the left arm, open the foldable laptop with patterned keyboard's lid.",
+    "Open the compact black laptop completely.",
+    "Raise the hinged laptop with screen and base lid using the left arm.",
+    "Use the left arm to raise the black laptop.",
+    "Use the left arm to raise the hinged laptop with screen and base.",
+    "Lift the lightweight laptop to open.",
+    "Raise the top of the sleek laptop design",
+    "Push the laptop featuring textured exterior's lid upward using the left arm.",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Pull the foldable laptop with patterned keyboard open with the left arm.",
+    "Hold the laptop with screen and keyboard steady, lift lid.",
+    "Raise the laptop with screen and keyboard using the left arm firmly.",
+    "Gently raise the laptop with red logo underside using the left arm.",
+    "Use the left arm to open the medium-sized laptop with black body.",
+    "Pull open the medium-sized laptop with black body",
+    "Open the compact black laptop carefully with the left arm.",
+    "Pull the lid of the compact black laptop upward.",
+    "Carefully open the foldable laptop with patterned keyboard using the left arm",
+    "Lift the compact black laptop's lid upwards.",
+    "Lift the black laptop open with the left arm.",
+    "Gently open the black laptop with red accents upward.",
+    "Slide the black metallic laptop open with the left arm.",
+    "Open the lightweight laptop by lifting its lid.",
+    "Use the left arm to open the hinged laptop with screen and base",
+    "Grip and lift the black laptop with red accents's lid.",
+    "Lift and open the sleek laptop design.",
+    "Lift the lightweight laptop to open it up",
+    "Open the laptop with screen and keyboard lifting with the left arm",
+    "Raise the sleek laptop design lid with the left arm.",
+    "Raise the laptop featuring textured exterior to expose the screen",
+    "Raise the hinged laptop with screen and base using the left arm.",
+    "Use the left arm to open the lightweight laptop.",
+    "Lift the laptop featuring textured exterior's lid using the left arm.",
+    "Pull the black laptop's lid upward.",
+    "Raise and open the laptop with screen and keyboard.",
+    "Fully lift the foldable laptop with patterned keyboard using the left arm.",
+    "Pull the compact black laptop upward lightly.",
+    "Raise the foldable laptop with patterned keyboard's top section.",
+    "Pull up the lid of the hinged laptop with screen and base",
+    "Open the medium-sized laptop with black body entirely.",
+    "Use the left arm to lift the laptop featuring textured exterior",
+    "Lift the black metallic laptop lid completely.",
+    "Lift the laptop with red logo underside slightly.",
+    "Raise the lid of the black laptop.",
+    "Use the left arm to raise the compact black laptop.",
+    "Fully open the the black laptop.",
+    "Use the left arm to open the foldable laptop with patterned keyboard.",
+    "Gently lift the laptop featuring textured exterior using the left arm",
+    "Gently open the medium-sized laptop with black body.",
+    "Pull the screen of the black metallic laptop.",
+    "With the left arm, open the compact black laptop's lid.",
+    "Open the black laptop with red accents completely.",
+    "Raise the black laptop lid using the left arm.",
+    "Use the left arm to raise the compact black laptop.",
+    "Use the left arm to raise the foldable laptop with patterned keyboard.",
+    "Lift the laptop featuring textured exterior to open.",
+    "Raise the top of the sleek laptop design",
+    "Push the foldable laptop with patterned keyboard's lid upward using the left arm.",
+    "Raise the lightweight laptop using the left arm.",
+    "Pull the black laptop with red accents open with the left arm.",
+    "Hold the foldable laptop with patterned keyboard steady, lift lid.",
+    "Raise the compact black laptop using the left arm firmly.",
+    "Gently raise the black metallic laptop using the left arm."
+  ],
+  "unseen": [
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the portable laptop using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the rectangular laptop with smooth finish using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm",
+    "Open the laptop with patterned keyboard surface using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Lift the laptop with patterned keyboard surface using the left arm.",
+    "Open the rectangular laptop with smooth finish carefully using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the portable laptop using the left arm.",
+    "Open the portable laptop carefully using the left arm.",
+    "Grab the portable laptop and open it.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Lift the laptop with patterned keyboard surface using the left arm",
+    "Open the rectangular laptop with smooth finish using the left arm.",
+    "Open the portable laptop with one motion.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the portable laptop with care",
+    "Lift the rectangular laptop with smooth finish using the left arm.",
+    "Open the laptop with patterned keyboard surface carefully using the left arm.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Pull up the portable laptop's lid.",
+    "Lift the portable laptop using the left arm"
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode63.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Open the medium-sized laptop entirely.",
+    "Open the rectangular laptop with Toshiba logo carefully with the left arm.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Lift the black laptop with reflective screen to open.",
+    "Raise the compact black and silver computer to expose the screen",
+    "Raise the lid of the portable folding laptop.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Raise the portable folding laptop using the left arm.",
+    "Slide the laptop with silver keyboard open with the left arm.",
+    "Push the Toshiba laptop with folding design's lid upward using the left arm.",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Raise the top of the Toshiba laptop with folding design",
+    "Carefully open the Toshiba laptop with folding design using the left arm",
+    "Use the left arm to open the compact black and silver computer.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the Toshiba laptop with folding design slightly.",
+    "Open the laptop with silver keyboard completely.",
+    "Gently open the folding laptop with screen and keyboard upward.",
+    "Pull up the lid of the black and silver laptop",
+    "Open the medium-sized laptop lifting with the left arm",
+    "Use the left arm to open the silver keyboard laptop",
+    "Raise the medium-sized laptop lid with the left arm.",
+    "Pull the screen of the matte laptop with smooth screen.",
+    "Lift the Toshiba laptop with folding design open with the left arm.",
+    "Gently lift the silver keyboard laptop using the left arm",
+    "Gently raise the black laptop with reflective screen using the left arm.",
+    "Hold the rectangular laptop with Toshiba logo steady, lift lid.",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Raise the matte laptop with smooth screen lid using the left arm.",
+    "Fully open the the medium-sized laptop.",
+    "Pull the lid of the medium-sized laptop upward.",
+    "Lift and open the portable folding laptop.",
+    "Pull open the Toshiba laptop with folding design",
+    "Raise and open the black laptop with reflective screen.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Use the left arm to raise the silver keyboard laptop.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Lift the device with flat keyboard and screen's lid using the left arm.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Raise the matte laptop with smooth screen using the left arm firmly.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Lift the black and silver laptop to open it up",
+    "Use the left arm to lift the black laptop with reflective screen",
+    "Open the device with flat keyboard and screen by lifting its lid.",
+    "Raise the device with flat keyboard and screen's top section.",
+    "Open the portable folding laptop entirely.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "With the left arm, open the laptop with silver keyboard's lid.",
+    "Lift the portable folding laptop to open.",
+    "Raise the Toshiba laptop with folding design to expose the screen",
+    "Raise the lid of the matte laptop with smooth screen.",
+    "Pull the medium-sized laptop upward lightly.",
+    "Raise the silver keyboard laptop using the left arm.",
+    "Slide the laptop with silver keyboard open with the left arm.",
+    "Push the black laptop with reflective screen's lid upward using the left arm.",
+    "Raise the portable folding laptop using the left arm.",
+    "Raise the top of the silver keyboard laptop",
+    "Carefully open the rectangular laptop with Toshiba logo using the left arm",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Lift the medium-sized laptop slightly.",
+    "Open the medium-sized laptop completely.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Pull up the lid of the silver keyboard laptop",
+    "Open the matte laptop with smooth screen lifting with the left arm",
+    "Use the left arm to open the laptop with silver keyboard",
+    "Raise the black and silver laptop lid with the left arm.",
+    "Pull the screen of the portable folding laptop.",
+    "Lift the Toshiba laptop with folding design open with the left arm.",
+    "Gently lift the silver keyboard laptop using the left arm",
+    "Gently raise the compact black and silver computer using the left arm.",
+    "Hold the device with flat keyboard and screen steady, lift lid.",
+    "Pull the folding laptop with screen and keyboard open with the left arm.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Raise the rectangular laptop with Toshiba logo lid using the left arm.",
+    "Fully open the the black laptop with reflective screen.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Lift and open the portable folding laptop.",
+    "Pull open the black and silver laptop",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Pull the device with flat keyboard and screen's lid upward.",
+    "Fully lift the Toshiba laptop with folding design using the left arm.",
+    "Gently open the black laptop with reflective screen.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Use the left arm to open the compact black and silver computer.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Lift the folding laptop with screen and keyboard's lid using the left arm.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Raise the rectangular laptop with Toshiba logo using the left arm firmly.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "Lift the rectangular laptop with Toshiba logo to open it up",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Open the silver keyboard laptop by lifting its lid."
+  ],
+  "unseen": [
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the computer with black screen and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer with one motion.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the portable Toshiba laptop's lid gently."
+  ]
+}

open_laptop/ur5_randomized_500/instructions/episode96.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull up the lid of the matte laptop with smooth screen",
+    "Gently open the medium-sized laptop.",
+    "Pull the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the folding laptop with screen and keyboard using the right arm firmly.",
+    "Raise and open the folding laptop with screen and keyboard.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to raise the Toshiba laptop with folding design.",
+    "Gently open the Toshiba laptop with folding design upward.",
+    "Raise the device with flat keyboard and screen lid using the right arm.",
+    "Raise the rectangular laptop with Toshiba logo's top section.",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Lift the medium-sized laptop to open.",
+    "Pull the Toshiba laptop with folding design's lid upward.",
+    "Lift the Toshiba laptop with folding design lid completely.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Pull open the black laptop with reflective screen",
+    "With the right arm, open the compact black and silver computer's lid.",
+    "Lift and open the portable folding laptop.",
+    "Open the black laptop with reflective screen lifting with the right arm",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Slide the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the top of the silver keyboard laptop",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Use the right arm to open the Toshiba laptop with folding design",
+    "Lift the laptop with silver keyboard slightly.",
+    "Pull the screen of the folding laptop with screen and keyboard.",
+    "Push the folding laptop with screen and keyboard's lid upward using the right arm.",
+    "Use the right arm to raise the folding laptop with screen and keyboard.",
+    "Lift the compact black and silver computer open with the right arm.",
+    "Open the Toshiba laptop with folding design by lifting its lid.",
+    "Fully open the the black and silver laptop.",
+    "Raise the lid of the medium-sized laptop.",
+    "Raise the black laptop with reflective screen using the right arm.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Use the right arm to lift the rectangular laptop with Toshiba logo",
+    "Raise the black and silver laptop using the right arm.",
+    "Pull the lid of the compact black and silver computer upward.",
+    "Lift the rectangular laptop with Toshiba logo's lid using the right arm.",
+    "Lift the rectangular laptop with Toshiba logo's lid upwards.",
+    "Open the matte laptop with smooth screen completely.",
+    "Raise the folding laptop with screen and keyboard lid with the right arm.",
+    "Grip and lift the portable folding laptop's lid.",
+    "Open the compact black and silver computer entirely.",
+    "Gently raise the silver keyboard laptop using the right arm.",
+    "Fully lift the silver keyboard laptop using the right arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the laptop with silver keyboard to open it up",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Pull the folding laptop with screen and keyboard upward lightly.",
+    "Pull up the lid of the portable folding laptop",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Pull the silver keyboard laptop open with the right arm.",
+    "Raise the matte laptop with smooth screen using the right arm firmly.",
+    "Raise and open the compact black and silver computer.",
+    "Use the right arm to open the folding laptop with screen and keyboard.",
+    "Use the right arm to raise the compact black and silver computer.",
+    "Gently open the black laptop with reflective screen upward.",
+    "Raise the folding laptop with screen and keyboard lid using the right arm.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Carefully open the matte laptop with smooth screen using the right arm",
+    "Lift the matte laptop with smooth screen to open.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Use the right arm to open the black laptop with reflective screen.",
+    "Pull open the folding laptop with screen and keyboard",
+    "With the right arm, open the portable folding laptop's lid.",
+    "Lift and open the black laptop with reflective screen.",
+    "Open the folding laptop with screen and keyboard lifting with the right arm",
+    "Use the right arm to open the Toshiba laptop with folding design.",
+    "Slide the folding laptop with screen and keyboard open with the right arm.",
+    "Raise the top of the black and silver laptop",
+    "Open the compact black and silver computer carefully with the right arm.",
+    "Use the right arm to open the rectangular laptop with Toshiba logo",
+    "Lift the compact black and silver computer slightly.",
+    "Pull the screen of the black and silver laptop.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Use the right arm to raise the device with flat keyboard and screen.",
+    "Lift the portable folding laptop open with the right arm.",
+    "Open the portable folding laptop by lifting its lid.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Raise the lid of the compact black and silver computer.",
+    "Raise the compact black and silver computer using the right arm.",
+    "Gently lift the portable folding laptop using the right arm",
+    "Use the right arm to lift the matte laptop with smooth screen",
+    "Raise the compact black and silver computer using the right arm.",
+    "Pull the lid of the black laptop with reflective screen upward.",
+    "Lift the Toshiba laptop with folding design's lid using the right arm.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Raise the Toshiba laptop with folding design lid with the right arm.",
+    "Grip and lift the black laptop with reflective screen's lid.",
+    "Open the medium-sized laptop entirely.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Fully lift the portable folding laptop using the right arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Lift the portable folding laptop to open it up",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Pull the black and silver laptop upward lightly."
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the computer with black screen and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the laptop computer's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the computer with black screen carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the laptop computer with care",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the laptop computer using the right arm",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the laptop computer and open it.",
+    "Pull up the laptop computer's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the computer with black screen with care",
+    "Grab the laptop computer and open it.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the laptop computer using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the portable Toshiba laptop using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop using the right arm.",
+    "Lift the computer with black screen's lid gently.",
+    "Open the laptop computer carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the portable Toshiba laptop using the right arm.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Lift the computer with black screen using the right arm",
+    "Open the computer with black screen with one motion.",
+    "Open the computer with black screen using the right arm.",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Open the portable Toshiba laptop carefully using the right arm.",
+    "Open the portable Toshiba laptop with care",
+    "Grab the portable Toshiba laptop and open it.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer using the right arm."
+  ]
+}