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open_laptop/ur5_randomized_500/instructions/episode104.json

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

open_laptop/ur5_randomized_500/instructions/episode121.json

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

open_laptop/ur5_randomized_500/instructions/episode122.json

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

open_laptop/ur5_randomized_500/instructions/episode123.json

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

open_laptop/ur5_randomized_500/instructions/episode142.json

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

open_laptop/ur5_randomized_500/instructions/episode145.json

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

open_laptop/ur5_randomized_500/instructions/episode159.json

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

open_laptop/ur5_randomized_500/instructions/episode178.json

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

open_laptop/ur5_randomized_500/instructions/episode28.json

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

open_laptop/ur5_randomized_500/instructions/episode303.json

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

open_laptop/ur5_randomized_500/instructions/episode315.json

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

open_laptop/ur5_randomized_500/instructions/episode337.json

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

open_laptop/ur5_randomized_500/instructions/episode349.json

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

open_laptop/ur5_randomized_500/instructions/episode375.json

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

open_laptop/ur5_randomized_500/instructions/episode428.json

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

open_laptop/ur5_randomized_500/instructions/episode449.json

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

open_laptop/ur5_randomized_500/instructions/episode460.json

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

open_laptop/ur5_randomized_500/instructions/episode468.json

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

open_laptop/ur5_randomized_500/instructions/episode83.json

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

open_laptop/ur5_randomized_500/instructions/episode98.json

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