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adjust_bottle/aloha-agilex_clean_50/seed.txt

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adjust_bottle/aloha-agilex_randomized_500/seed.txt

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adjust_bottle/arx-x5_clean_50/instructions/episode21.json

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+{
+  "seen": [
+    "Pick the smooth green bottle head-up using the right arm",
+    "Use the right arm to pick up the medium green bottle with capped neck in the correct orientation",
+    "Grab the handheld green bottle head-up using the right arm from the table.",
+    "Pick the bottle with narrow top upright from the table",
+    "Identify the medium green bottle with capped neck and grab it with the right arm",
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Use the right arm to lift the bottle with narrow top head-up",
+    "Lift the bottle with rounded neck using the right arm and hold upright",
+    "Pick the smooth green bottle up with the right arm ensuring it stays head-up.",
+    "Carefully grab the medium-sized green bottle head-up",
+    "Grab the handheld green bottle with the right arm in a head-up way",
+    "Lift the handheld green bottle upright carefully using the right arm",
+    "Lift the plastic bottle from the table without mentioning the arm.",
+    "Lift the bottle with white printed label head-up from the table.",
+    "Hold the smooth green bottle upright from the table",
+    "Raise the bottle with rounded neck from the table using the correct arm, the right arm.",
+    "Use the right arm to pick up the bottle with white printed label from the table.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Locate the medium-sized green bottle and lift it upright with the right arm.",
+    "Grab the bottle with ridges near base and lift it with the right arm",
+    "Hold the medium green bottle upright after lifting with the right arm",
+    "Pick up the bottle with ridges near base from the table carefully.",
+    "Find the bottle with white printed label on the table and raise it using the right arm.",
+    "Use the right arm to hold the green bottle with indented base from the table",
+    "Grab the handheld green bottle and lift it upright",
+    "Take the bottle with ridges near base from the table and keep upright",
+    "Grab the medium green bottle from the table and hold it head-up.",
+    "Grab the medium-sized green bottle and lift it into a head-up position",
+    "Lift the smooth green bottle ensuring it remains upright.",
+    "Grab the smooth green bottle from the table with the right arm",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Position the bottle with ridges near base head-up and lift it",
+    "Hold the smooth green bottle head-up after lifting it.",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Lift the medium green bottle from the table with the right arm",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Pick up the green bottle with indented base upright from the table",
+    "Lift the bottle the smooth green bottle up from the table",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Secure the bottle with ridges near base upright with the right arm",
+    "Utilize the right arm to lift the bottle with rounded neck while keeping it head-up.",
+    "Grab the plastic bottle and lift it upward from the table.",
+    "Using the right arm, pick the handheld green bottle upright",
+    "Raise the medium-sized green bottle in a head-up position",
+    "Use the right arm to grab and lift the smooth green bottle head-up.",
+    "Use the right arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Lift the plastic bottle head-up from the table",
+    "Lift the bottle with rounded neck from the table upright",
+    "Pick up the bottle with white printed label from the table using the right arm.",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Use the right arm to pick up the medium green bottle in the correct orientation",
+    "Grab the smooth green plastic bottle head-up using the right arm from the table.",
+    "Pick the bottle with narrow top upright from the table",
+    "Identify the smooth green bottle and grab it with the right arm",
+    "Use the correct arm to pick up the handheld green bottle.",
+    "Use the right arm to lift the bottle with white printed label head-up",
+    "Lift the bottle with ridges near base using the right arm and hold upright",
+    "Pick the bottle with white printed label up with the right arm ensuring it stays head-up.",
+    "Carefully grab the bottle with ridges near base head-up",
+    "Grab the medium-sized green bottle with the right arm in a head-up way",
+    "Lift the medium green bottle with capped neck upright carefully using the right arm",
+    "Lift the smooth green plastic bottle from the table without mentioning the arm.",
+    "Lift the medium green bottle head-up from the table.",
+    "Hold the medium-sized green bottle upright from the table",
+    "Raise the medium green bottle with capped neck from the table using the correct arm, the right arm.",
+    "Use the right arm to pick up the green bottle with indented base from the table.",
+    "Pick the handheld green bottle upright from the table",
+    "Locate the smooth green bottle and lift it upright with the right arm.",
+    "Grab the smooth green plastic bottle and lift it with the right arm",
+    "Hold the plastic bottle upright after lifting with the right arm",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Find the bottle with ridges near base on the table and raise it using the right arm.",
+    "Use the right arm to hold the bottle with narrow top from the table",
+    "Grab the smooth green plastic bottle and lift it upright",
+    "Take the green bottle with indented base from the table and keep upright",
+    "Grab the medium green bottle with capped neck from the table and hold it head-up.",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Lift the medium green bottle with capped neck ensuring it remains upright.",
+    "Grab the bottle with ridges near base from the table with the right arm",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Position the plastic bottle head-up and lift it",
+    "Hold the medium-sized green bottle head-up after lifting it.",
+    "Lift the medium green bottle with capped neck off the table and hold it upright.",
+    "Pick the bottle with white printed label and keep it upright",
+    "Lift the medium-sized green bottle from the table with the right arm",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Pick up the smooth green plastic bottle upright from the table",
+    "Lift the bottle the medium green bottle up from the table",
+    "Lift the bottle the green bottle with indented base headup from the table",
+    "Secure the bottle with rounded neck upright with the right arm",
+    "Utilize the right arm to lift the smooth green bottle while keeping it head-up.",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Using the right arm, pick the bottle with white printed label upright",
+    "Raise the bottle with ridges near base in a head-up position",
+    "Use the right arm to grab and lift the bottle with rounded neck head-up.",
+    "Use the right arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Lift the smooth green bottle from the table upright",
+    "Pick up the smooth green bottle from the table using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green bottle",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle carefully using the right arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Lift the green bottle with white label from the table using the right arm."
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode25.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic drink bottle upright from the table",
+    "Pick the brown bottle with red label up with the right arm ensuring it stays head-up.",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Pick the brown bottle with red label and keep it upright",
+    "Raise the narrow-necked bottle from the table using the correct arm, the right arm.",
+    "Grab the dark drink bottle with logo from the table with the right arm",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Use the right arm to grab and lift the bottle with white neck and red top head-up.",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Locate the plastic drink bottle and lift it upright with the right arm.",
+    "Hold the brown bottle with red label upright from the table",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Use the right arm to hold the medium dark brown bottle from the table",
+    "Position the long thin bottle head-up and lift it",
+    "Using the right arm, pick the bottle with white neck and red top upright",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Grab the dark drink bottle with logo and lift it into a head-up position",
+    "Secure the smooth bottle with red lid upright with the right arm",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Identify the red-capped bottle and grab it with the right arm",
+    "Lift the hand-sized soda bottle using the right arm and hold upright",
+    "Use the right arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Use the right arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Lift the brown bottle with red label from the table upright",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Hold the Coca-Cola bottle upright after lifting with the right arm",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Lift the long thin bottle from the table with the right arm",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Grab the long thin bottle and lift it upright",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Lift the brown bottle with red label upright carefully using the right arm",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Pick up the Coca-Cola bottle from the table using the right arm.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Use the right arm to grab and lift the smooth bottle with red lid head-up.",
+    "Grab the plastic drink bottle head-up using the right arm from the table.",
+    "Utilize the right arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Locate the red-capped bottle and lift it upright with the right arm.",
+    "Hold the brown bottle with red label upright from the table",
+    "Lift the long thin bottle head-up from the table.",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Position the red-capped bottle head-up and lift it",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Pick up the bottle with ridges on bottom from the table carefully.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Identify the narrow-necked bottle and grab it with the right arm",
+    "Lift the plastic drink bottle using the right arm and hold upright",
+    "Use the right arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Use the right arm to pick up the bottle with ridges on bottom from the table.",
+    "Use the right arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the long thin bottle from the table upright",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Find the hand-sized soda bottle on the table and raise it using the right arm.",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Pick the long thin bottle upright from the table",
+    "Use the right arm to lift the long thin bottle head-up",
+    "Carefully grab the red-capped bottle head-up",
+    "Hold the dark drink bottle with logo upright after lifting with the right arm",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Lift the smooth bottle with red lid from the table with the right arm",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Use the correct arm to pick up the Coca-Cola bottle.",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Pick up the brown bottle with red label from the table using the right arm."
+  ],
+  "unseen": [
+    "Grab the brown bottle from the table with the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm"
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode26.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Identify the hand-sized soda bottle and grab it with the left arm",
+    "Use the left arm to lift the narrow-necked bottle head-up",
+    "Grab the long thin bottle with the left arm in a head-up way",
+    "Grab the red-capped bottle and lift it upright",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Carefully grab the red-capped bottle head-up",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Lift the narrow-necked bottle using the left arm and hold upright",
+    "Use the left arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Use the left arm to grab and lift the brown bottle with red label head-up.",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Secure the long thin bottle upright with the left arm",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Find the bottle with ridges on bottom on the table and raise it using the left arm.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Using the left arm, pick the smooth bottle with red lid upright",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Grab the plastic drink bottle from the table with the left arm",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Use the left arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Pick the long thin bottle upright from the table",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Pick the brown bottle with red label and keep it upright",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Use the left arm to pick up the dark drink bottle with logo from the table.",
+    "Raise the plastic drink bottle from the table using the correct arm, the left arm.",
+    "Locate the smooth bottle with red lid and lift it upright with the left arm.",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Use the left arm to grab and lift the brown bottle with red label head-up.",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Lift the red-capped bottle off the table and hold it upright.",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Lift the bottle with ridges on bottom from the table with the left arm",
+    "Find the narrow-necked bottle on the table and raise it using the left arm.",
+    "Lift the medium dark brown bottle upright carefully using the left arm",
+    "Raise the red-capped bottle in a head-up position",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Utilize the left arm to lift the plastic drink bottle while keeping it head-up.",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Using the left arm, pick the long thin bottle upright",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Use the left arm to hold the smooth bottle with red lid from the table",
+    "Lift the plastic drink bottle head-up from the table",
+    "Use the left arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick up the plastic drink bottle upright from the table",
+    "Position the red-capped bottle head-up and lift it",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Pick up the brown bottle with red label from the table using the left arm."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up."
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode27.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the hand-sized soda bottle upright with the right arm",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Pick the red-capped bottle up with the right arm ensuring it stays head-up.",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Lift the plastic drink bottle using the right arm and hold upright",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Grab the long thin bottle and lift it upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Grab the dark drink bottle with logo and lift it with the right arm",
+    "Use the right arm to hold the red-capped bottle from the table",
+    "Pick up the red-capped bottle upright from the table",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Find the narrow-necked bottle on the table and raise it using the right arm.",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Hold the red-capped bottle upright from the table",
+    "Grab the Coca-Cola bottle with the right arm in a head-up way",
+    "Pick up the hand-sized soda bottle from the table using the right arm.",
+    "Use the right arm to lift the bottle with ridges on bottom head-up",
+    "Position the red-capped bottle head-up and lift it",
+    "Pick the plastic drink bottle upright from the table",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Use the right arm to grab and lift the dark drink bottle with logo head-up.",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Lift the bottle the brown bottle with red label up from the table",
+    "Utilize the right arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Grab the smooth bottle with red lid from the table with the right arm",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Lift the bottle with white neck and red top from the table with the right arm",
+    "Lift the smooth bottle with red lid ensuring it remains upright.",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Locate the dark drink bottle with logo and lift it upright with the right arm.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Hold the bottle with white neck and red top upright after lifting with the right arm",
+    "Use the right arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Use the right arm to pick up the bottle with ridges on bottom from the table.",
+    "Lift the hand-sized soda bottle upright carefully using the right arm",
+    "Lift the long thin bottle head-up from the table",
+    "Lift the long thin bottle head-up from the table.",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Use the right arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Secure the hand-sized soda bottle upright with the right arm",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Pick the bottle with white neck and red top up with the right arm ensuring it stays head-up.",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Raise the red-capped bottle in a head-up position",
+    "Lift the long thin bottle using the right arm and hold upright",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Grab the plastic drink bottle and lift it upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Grab the narrow-necked bottle and lift it with the right arm",
+    "Use the right arm to hold the dark drink bottle with logo from the table",
+    "Pick up the long thin bottle upright from the table",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Carefully grab the long thin bottle head-up",
+    "Hold the bottle with white neck and red top upright from the table",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Pick up the hand-sized soda bottle from the table using the right arm.",
+    "Use the right arm to lift the smooth bottle with red lid head-up",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Pick the red-capped bottle upright from the table",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Use the right arm to grab and lift the hand-sized soda bottle head-up.",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Raise the long thin bottle from the table using the correct arm, the right arm.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Grab the bottle with ridges on bottom head-up using the right arm from the table.",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Utilize the right arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Grab the dark drink bottle with logo from the table with the right arm",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Using the right arm, pick the dark drink bottle with logo upright",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Lift the long thin bottle from the table with the right arm",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Locate the plastic drink bottle and lift it upright with the right arm.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Hold the medium dark brown bottle upright after lifting with the right arm",
+    "Use the right arm to pick up the long thin bottle in the correct orientation",
+    "Use the right arm to pick up the red-capped bottle from the table.",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Use the right arm to pick the Coca-Cola bottle up and keep it head-up."
+  ],
+  "unseen": [
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Use the right arm to grab the plastic soda bottle head-up."
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode29.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick up the hand-sized soda bottle from the table.",
+    "Hold the dark drink bottle with logo upright after lifting with the left arm",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Lift the red-capped bottle head-up from the table",
+    "Pick the bottle with white neck and red top up with the left arm ensuring it stays head-up.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Lift the medium dark brown bottle upright carefully using the left arm",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Hold the plastic drink bottle upright from the table",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Lift the smooth bottle with red lid using the left arm and hold upright",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Identify the narrow-necked bottle and grab it with the left arm",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Using the left arm, pick the smooth bottle with red lid upright",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Use the left arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Use the left arm to grab and lift the brown bottle with red label head-up.",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Locate the bottle with ridges on bottom and lift it upright with the left arm.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Grab the long thin bottle from the table with the left arm",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the left arm.",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Lift the Coca-Cola bottle ensuring it remains upright.",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Utilize the left arm to lift the red-capped bottle while keeping it head-up.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Hold the medium dark brown bottle head-up after lifting it.",
+    "Use the left arm to hold the long thin bottle from the table",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Find the bottle with white neck and red top on the table and raise it using the left arm.",
+    "Secure the Coca-Cola bottle upright with the left arm",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Grab the plastic drink bottle and lift it with the left arm",
+    "Lift the Coca-Cola bottle head-up from the table.",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Use the left arm to pick up the bottle with ridges on bottom from the table.",
+    "Hold the medium dark brown bottle upright after lifting with the left arm",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Lift the red-capped bottle head-up from the table",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Hold the narrow-necked bottle upright from the table",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Lift the dark drink bottle with logo using the left arm and hold upright",
+    "Grab the Coca-Cola bottle with the left arm in a head-up way",
+    "Identify the long thin bottle and grab it with the left arm",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Lift the brown bottle with red label from the table upright",
+    "Lift the narrow-necked bottle from the table without mentioning the arm.",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Grab the hand-sized soda bottle head-up using the left arm from the table.",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Lift the dark drink bottle with logo from the table and secure upright",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Locate the red-capped bottle and lift it upright with the left arm.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Grab the plastic drink bottle from the table with the left arm",
+    "Pick the red-capped bottle and keep it upright",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Raise the long thin bottle in a head-up position",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Lift the brown bottle with red label ensuring it remains upright.",
+    "Use the left arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Utilize the left arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Find the bottle with white neck and red top on the table and raise it using the left arm.",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Grab the dark drink bottle with logo and lift it with the left arm",
+    "Lift the red-capped bottle head-up from the table.",
+    "Grab the medium dark brown bottle and lift it upward from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Take the bottle with ridges on bottom from the table and keep upright"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode36.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Pick the brown bottle with red label upright from the table",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Utilize the left arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Find the hand-sized soda bottle on the table and raise it using the left arm.",
+    "Grab the bottle with ridges on bottom with the left arm in a head-up way",
+    "Use the left arm to hold the plastic drink bottle from the table",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Use the left arm to grab and lift the long thin bottle head-up.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Lift the hand-sized soda bottle using the left arm and hold upright",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Take the red-capped bottle from the table and keep upright",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Grab the long thin bottle and lift it with the left arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Identify the smooth bottle with red lid and grab it with the left arm",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Lift the red-capped bottle from the table with the left arm",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Use the correct arm to pick up the plastic drink bottle.",
+    "Locate the smooth bottle with red lid and lift it upright with the left arm.",
+    "Use the left arm to pick up the plastic drink bottle from the table.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Position the brown bottle with red label head-up and lift it",
+    "Grab the red-capped bottle and lift it upright",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Grab the red-capped bottle from the table with the left arm",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Use the left arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Raise the red-capped bottle in a head-up position",
+    "Use the left arm to lift the medium dark brown bottle head-up",
+    "Lift the plastic drink bottle head-up from the table",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Grab the long thin bottle with the left arm in a head-up way",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Pick the red-capped bottle upright from the table",
+    "Use the left arm to grab and lift the dark drink bottle with logo head-up.",
+    "Lift the plastic drink bottle off the table and hold it upright.",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Pick up the plastic drink bottle from the table using the left arm.",
+    "Lift the smooth bottle with red lid using the left arm and hold upright",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Take the brown bottle with red label from the table and keep upright",
+    "Hold the red-capped bottle upright from the table",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Grab the red-capped bottle and lift it with the left arm",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Identify the bottle with ridges on bottom and grab it with the left arm",
+    "Lift the bottle with ridges on bottom upright carefully using the left arm",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Lift the medium dark brown bottle from the table with the left arm",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm",
+    "Grab the Coca-Cola bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the narrow-necked bottle from the table.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Pick the Coca-Cola bottle up with the left arm ensuring it stays head-up.",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Grab the red-capped bottle and lift it upright",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Lift the long thin bottle from the table and secure upright",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Pick the plastic drink bottle head-up using the right arm"
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm."
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode45.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Carefully grab the medium green bottle head-up",
+    "Identify the medium green bottle with capped neck and grab it with the right arm",
+    "Lift the handheld green bottle from the table with the right arm",
+    "Grab the bottle with rounded neck and lift it upward from the table.",
+    "Grab the medium green bottle with capped neck and lift it into a head-up position",
+    "Pick the smooth green plastic bottle and keep it upright",
+    "Position the handheld green bottle head-up and lift it",
+    "Pick the green bottle with indented base up with the right arm ensuring it stays head-up.",
+    "Pick the smooth green bottle upright from the table",
+    "Lift the bottle with rounded neck upright carefully using the right arm",
+    "Grab the medium green bottle with the right arm in a head-up way",
+    "Use the right arm to pick the bottle with narrow top up and keep it head-up.",
+    "Grab the bottle with narrow top from the table with the right arm",
+    "Use the right arm to lift the medium-sized green bottle head-up",
+    "Use the right arm to hold the bottle with white printed label from the table",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Hold the medium green bottle with capped neck head-up after lifting it.",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Raise the smooth green bottle from the table using the correct arm, the right arm.",
+    "Locate the bottle with white printed label and lift it upright with the right arm.",
+    "Lift the green bottle with indented base head-up from the table.",
+    "Lift the bottle with rounded neck from the table and secure upright",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Utilize the right arm to lift the bottle with rounded neck while keeping it head-up.",
+    "Lift the medium-sized green bottle from the table without mentioning the arm.",
+    "Use the correct arm to pick up the handheld green bottle.",
+    "Pick the bottle with white printed label upright from the table",
+    "Pick up the smooth green plastic bottle from the table using the right arm.",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Lift the bottle with white printed label from the table upright",
+    "Using the right arm, pick the medium green bottle with capped neck upright",
+    "Use the right arm to grab and lift the medium-sized green bottle head-up.",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Use the right arm to pick up the plastic bottle from the table.",
+    "Lift the medium green bottle using the right arm and hold upright",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Grab the medium-sized green bottle head-up using the right arm from the table.",
+    "Find the smooth green bottle on the table and raise it using the right arm.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Hold the smooth green bottle upright from the table",
+    "Pick up the medium green bottle from the table carefully.",
+    "Take the green bottle with indented base from the table and keep upright",
+    "Secure the smooth green bottle upright with the right arm",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Lift the bottle the medium green bottle with capped neck headup from the table",
+    "Grab the bottle with narrow top and lift it with the right arm",
+    "Use the right arm to pick up the bottle with rounded neck in the correct orientation",
+    "Lift the medium-sized green bottle off the table and hold it upright.",
+    "Pick the bottle with ridges near base head-up using the right arm",
+    "Hold the medium green bottle with capped neck upright after lifting with the right arm",
+    "Carefully grab the medium green bottle head-up",
+    "Identify the bottle with white printed label and grab it with the right arm",
+    "Lift the medium green bottle from the table with the right arm",
+    "Grab the medium green bottle with capped neck and lift it upward from the table.",
+    "Grab the bottle with rounded neck and lift it into a head-up position",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Position the smooth green bottle head-up and lift it",
+    "Pick the handheld green bottle up with the right arm ensuring it stays head-up.",
+    "Pick the smooth green bottle upright from the table",
+    "Lift the bottle with white printed label upright carefully using the right arm",
+    "Grab the smooth green bottle with the right arm in a head-up way",
+    "Use the right arm to pick the smooth green bottle up and keep it head-up.",
+    "Grab the medium green bottle from the table with the right arm",
+    "Use the right arm to lift the bottle with ridges near base head-up",
+    "Use the right arm to hold the bottle with ridges near base from the table",
+    "Lift the green bottle with indented base head-up from the table",
+    "Hold the bottle with narrow top head-up after lifting it.",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Raise the bottle with rounded neck from the table using the correct arm, the right arm.",
+    "Locate the handheld green bottle and lift it upright with the right arm.",
+    "Lift the bottle with narrow top head-up from the table.",
+    "Lift the plastic bottle from the table and secure upright",
+    "Grab the smooth green plastic bottle and lift it upright",
+    "Utilize the right arm to lift the smooth green bottle while keeping it head-up.",
+    "Lift the smooth green plastic bottle from the table without mentioning the arm.",
+    "Use the correct arm to pick up the bottle with rounded neck.",
+    "Pick the bottle with ridges near base upright from the table",
+    "Pick up the bottle with white printed label from the table using the right arm.",
+    "Lift the bottle the smooth green bottle up from the table",
+    "Lift the smooth green bottle from the table upright",
+    "Using the right arm, pick the medium green bottle with capped neck upright",
+    "Use the right arm to grab and lift the bottle with rounded neck head-up.",
+    "Pick up the smooth green bottle upright from the table",
+    "Use the right arm to pick up the bottle with white printed label from the table.",
+    "Lift the bottle with ridges near base using the right arm and hold upright",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Grab the handheld green bottle head-up using the right arm from the table.",
+    "Find the smooth green plastic bottle on the table and raise it using the right arm.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Hold the bottle with narrow top upright from the table",
+    "Pick up the medium green bottle with capped neck from the table carefully.",
+    "Take the medium-sized green bottle from the table and keep upright",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Lift the bottle the bottle with rounded neck headup from the table",
+    "Grab the smooth green plastic bottle and lift it with the right arm",
+    "Use the right arm to pick up the medium-sized green bottle in the correct orientation",
+    "Lift the handheld green bottle off the table and hold it upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle carefully using the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green bottle from the table with the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Grab the green bottle with white label from the table with the right arm"
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode46.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the long thin bottle headup from the table",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Lift the red-capped bottle from the table with the left arm",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Lift the brown bottle with red label head-up from the table",
+    "Utilize the left arm to lift the red-capped bottle while keeping it head-up.",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Grab the dark drink bottle with logo from the table with the left arm",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Lift the narrow-necked bottle from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the dark drink bottle with logo head-up.",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Pick the narrow-necked bottle upright from the table",
+    "Lift the red-capped bottle head-up from the table.",
+    "Secure the medium dark brown bottle upright with the left arm",
+    "Use the left arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Position the plastic drink bottle head-up and lift it",
+    "Carefully grab the red-capped bottle head-up",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Lift the Coca-Cola bottle ensuring it remains upright.",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Pick the red-capped bottle and keep it upright",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Use the left arm to pick up the smooth bottle with red lid from the table.",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Take the long thin bottle from the table and keep upright",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Hold the plastic drink bottle upright from the table",
+    "Find the narrow-necked bottle on the table and raise it using the left arm.",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Lift the narrow-necked bottle from the table upright",
+    "Lift the bottle the narrow-necked bottle headup from the table",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Pick the red-capped bottle upright from the table",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Identify the plastic drink bottle and grab it with the left arm",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Locate the smooth bottle with red lid and lift it upright with the left arm.",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Use the left arm to hold the long thin bottle from the table",
+    "Grab the Coca-Cola bottle with the left arm in a head-up way",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Pick up the smooth bottle with red lid from the table using the left arm.",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Lift the long thin bottle from the table and secure upright",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Secure the bottle with ridges on bottom upright with the left arm",
+    "Use the left arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Grab the bottle with white neck and red top and lift it into a head-up position",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Raise the red-capped bottle in a head-up position",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Hold the medium dark brown bottle upright from the table",
+    "Find the brown bottle with red label on the table and raise it using the left arm.",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Lift the bottle with ridges on bottom from the table upright"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright"
+  ]
+}

adjust_bottle/arx-x5_clean_50/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick up the smooth green plastic bottle in the correct orientation",
+    "Use the left arm to lift the bottle with ridges near base head-up",
+    "Lift the smooth green plastic bottle off the table and hold it upright.",
+    "Raise the bottle with white printed label from the table using the correct arm, the left arm.",
+    "Hold the bottle with white printed label head-up after lifting it.",
+    "Use the left arm to pick the plastic bottle up and keep it head-up.",
+    "Lift the medium-sized green bottle from the table with the left arm",
+    "Position the medium green bottle head-up and lift it",
+    "Lift the bottle with white printed label using the left arm and hold upright",
+    "Grab the medium green bottle with capped neck and lift it into a head-up position",
+    "Pick the bottle with white printed label and keep it upright",
+    "Use the left arm to pick up the bottle with narrow top from the table.",
+    "Grab the smooth green bottle from the table and hold it head-up.",
+    "Hold the bottle with ridges near base upright after lifting with the left arm",
+    "Pick the plastic bottle upright from the table",
+    "Use the left arm to hold the bottle with white printed label from the table",
+    "Find the medium green bottle with capped neck on the table and raise it using the left arm.",
+    "Lift the handheld green bottle upright carefully using the left arm",
+    "Raise the bottle with white printed label in a head-up position",
+    "Secure the smooth green plastic bottle upright with the left arm",
+    "Utilize the left arm to lift the bottle with white printed label while keeping it head-up.",
+    "Lift the handheld green bottle from the table upright",
+    "Using the left arm, pick the medium-sized green bottle upright",
+    "Pick the bottle with narrow top head-up and hold it steady.",
+    "Use the left arm to grab and lift the smooth green plastic bottle head-up.",
+    "Lift the medium green bottle head-up from the table.",
+    "Grab the plastic bottle with the left arm in a head-up way",
+    "Pick up the bottle with white printed label upright from the table",
+    "Grab the bottle with white printed label and lift it upright",
+    "Grab the bottle with rounded neck from the table with the left arm",
+    "Lift the plastic bottle from the table and secure upright",
+    "Pick up the green bottle with indented base from the table carefully.",
+    "Lift the bottle with narrow top from the table without mentioning the arm.",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Lift the bottle the bottle with white printed label up from the table",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Pick the bottle with white printed label upright from the table",
+    "Locate the medium green bottle with capped neck and lift it upright with the left arm.",
+    "Lift the bottle the medium-sized green bottle headup from the table",
+    "Grab the bottle with ridges near base and lift it upward from the table.",
+    "Hold the medium-sized green bottle upright from the table",
+    "Pick up the bottle with narrow top from the table using the left arm.",
+    "Carefully grab the plastic bottle head-up",
+    "Lift the bottle with white printed label ensuring it remains upright.",
+    "Grab the bottle with rounded neck head-up using the left arm from the table.",
+    "Identify the medium green bottle and grab it with the left arm",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Use the correct arm to pick up the handheld green bottle.",
+    "Lift the smooth green bottle head-up from the table",
+    "Grab the plastic bottle and lift it with the left arm",
+    "Use the left arm to pick up the handheld green bottle in the correct orientation",
+    "Use the left arm to lift the green bottle with indented base head-up",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Raise the smooth green bottle from the table using the correct arm, the left arm.",
+    "Hold the plastic bottle head-up after lifting it.",
+    "Use the left arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Lift the bottle with white printed label from the table with the left arm",
+    "Position the medium green bottle with capped neck head-up and lift it",
+    "Lift the handheld green bottle using the left arm and hold upright",
+    "Grab the plastic bottle and lift it into a head-up position",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Use the left arm to pick up the bottle with ridges near base from the table.",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Hold the medium-sized green bottle upright after lifting with the left arm",
+    "Pick the bottle with narrow top upright from the table",
+    "Use the left arm to hold the bottle with rounded neck from the table",
+    "Find the bottle with narrow top on the table and raise it using the left arm.",
+    "Lift the bottle with ridges near base upright carefully using the left arm",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Secure the bottle with ridges near base upright with the left arm",
+    "Utilize the left arm to lift the green bottle with indented base while keeping it head-up.",
+    "Lift the bottle with rounded neck from the table upright",
+    "Using the left arm, pick the handheld green bottle upright",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Use the left arm to grab and lift the plastic bottle head-up.",
+    "Lift the medium green bottle with capped neck head-up from the table.",
+    "Grab the smooth green plastic bottle with the left arm in a head-up way",
+    "Pick up the smooth green bottle upright from the table",
+    "Grab the bottle with narrow top and lift it upright",
+    "Grab the bottle with ridges near base from the table with the left arm",
+    "Lift the bottle with rounded neck from the table and secure upright",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Lift the smooth green plastic bottle from the table without mentioning the arm.",
+    "Take the plastic bottle from the table and keep upright",
+    "Lift the bottle the bottle with white printed label up from the table",
+    "Pick the bottle with white printed label up with the left arm ensuring it stays head-up.",
+    "Pick the bottle with rounded neck upright from the table",
+    "Locate the bottle with ridges near base and lift it upright with the left arm.",
+    "Lift the bottle the bottle with narrow top headup from the table",
+    "Grab the medium green bottle with capped neck and lift it upward from the table.",
+    "Hold the plastic bottle upright from the table",
+    "Pick up the medium-sized green bottle from the table using the left arm.",
+    "Carefully grab the plastic bottle head-up",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Grab the bottle with narrow top head-up using the left arm from the table.",
+    "Identify the medium green bottle with capped neck and grab it with the left arm",
+    "Pick the smooth green plastic bottle head-up using the right arm",
+    "Use the correct arm to pick up the medium green bottle with capped neck.",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Grab the green bottle with indented base and lift it with the left arm"
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle from the table with the left arm"
+  ]
+}

adjust_bottle/arx-x5_clean_50/seed.txt

@@ -0,0 +1 @@
+0 2 3 5 7 8 9 10 11 13 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 35 36 37 38 39 41 42 43 44 46 47 49 50 51 52 53 54 55 56 57 58 

adjust_bottle/arx-x5_randomized_500/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 9 10 11 12 13 14 20 21 22 23 24 25 28 29 32 33 34 36 37 38 40 41 43 44 45 46 47 48 49 50 51 52 54 56 57 59 61 62 63 65 66 67 68 69 70 71 72 73 74 75 77 78 79 80 81 83 84 85 86 87 89 90 91 92 94 95 97 101 102 103 104 106 107 108 109 111 112 113 114 115 116 117 118 119 120 124 126 127 128 130 131 132 133 134 136 139 142 144 145 146 147 148 150 151 152 153 154 155 156 157 158 159 160 161 163 166 167 169 171 172 173 175 176 177 178 180 181 183 184 186 188 189 190 192 193 194 195 196 197 201 202 203 204 208 209 210 211 212 214 216 217 218 219 220 222 225 226 227 231 232 233 235 236 237 239 240 241 242 243 244 245 246 247 248 249 250 253 254 255 256 257 258 259 260 262 263 264 265 266 267 269 270 271 272 273 274 277 280 281 282 283 284 285 286 287 288 289 290 291 293 294 296 297 298 299 301 302 305 306 309 310 313 315 317 318 319 320 321 322 323 324 325 326 327 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 345 346 347 349 350 351 352 354 356 357 358 359 360 363 364 365 366 367 368 369 370 372 374 376 377 378 380 382 383 384 385 386 387 390 391 392 393 394 395 396 398 400 401 402 403 404 405 408 411 413 414 415 419 420 421 422 423 426 427 428 429 430 432 433 434 435 436 437 438 440 441 442 445 448 449 451 453 454 456 462 463 464 465 467 468 469 471 473 474 475 476 477 478 481 482 484 485 486 487 488 489 490 491 492 493 494 495 497 498 499 501 503 505 506 507 508 509 510 511 512 514 515 517 519 520 521 522 527 528 529 530 531 532 534 538 539 540 541 544 545 546 547 548 549 552 553 554 555 557 558 559 560 561 562 563 564 565 566 567 568 569 570 572 573 575 576 578 579 582 585 587 588 589 591 592 593 595 596 598 599 600 602 604 605 606 607 608 609 610 612 615 616 618 619 620 621 623 624 625 626 627 629 631 632 633 635 636 639 641 642 644 645 646 647 648 650 652 653 654 655 656 658 662 663 664 666 667 668 669 670 671 672 673 675 676 677 679 680 682 684 687 689 690 

adjust_bottle/franka_clean_50/seed.txt

@@ -0,0 +1 @@
+2 3 10 14 18 22 24 27 31 32 36 37 39 43 44 46 53 57 67 70 73 78 87 93 104 107 109 112 113 114 119 127 136 138 139 140 146 148 149 151 152 154 155 157 160 163 165 173 177 179 

adjust_bottle/franka_randomized_500/seed.txt

@@ -0,0 +1 @@
+1 9 10 11 14 22 23 37 47 56 57 62 68 69 70 73 74 78 85 91 92 103 108 114 126 127 131 136 139 142 147 152 153 154 160 161 169 173 176 181 186 190 196 208 209 211 212 216 219 222 245 246 248 250 253 255 257 259 260 262 264 265 266 267 272 274 277 280 284 286 288 291 294 297 305 306 309 313 317 318 326 327 330 331 337 341 350 351 356 357 358 359 360 367 368 377 378 382 384 386 387 393 398 401 404 413 419 420 442 448 453 456 465 466 467 468 469 471 476 485 486 487 490 498 506 509 511 516 517 538 547 566 568 570 578 579 582 586 588 596 600 606 608 610 615 616 619 624 631 632 639 642 648 653 654 655 667 670 671 689 692 694 699 701 707 719 722 723 726 727 730 732 734 735 737 738 742 744 746 749 759 760 766 774 776 785 793 798 810 813 817 818 827 839 842 843 844 853 860 864 869 876 880 885 887 895 897 915 916 919 924 925 928 933 936 937 954 958 971 979 983 987 988 997 1000 1001 1007 1012 1020 1030 1033 1037 1039 1051 1056 1062 1063 1066 1067 1068 1075 1078 1080 1084 1096 1103 1104 1107 1118 1119 1124 1129 1134 1136 1137 1140 1143 1146 1150 1151 1152 1156 1157 1160 1166 1173 1174 1179 1180 1181 1183 1184 1193 1194 1195 1196 1197 1198 1199 1204 1208 1209 1218 1221 1222 1225 1227 1232 1235 1236 1238 1245 1247 1249 1250 1254 1256 1263 1267 1271 1276 1282 1289 1291 1292 1293 1294 1296 1305 1307 1308 1309 1321 1325 1327 1338 1344 1348 1358 1363 1374 1379 1383 1390 1391 1397 1400 1404 1406 1407 1409 1410 1411 1412 1419 1425 1426 1429 1437 1439 1443 1448 1449 1452 1454 1459 1461 1462 1464 1466 1471 1480 1482 1485 1486 1487 1490 1494 1517 1521 1530 1539 1540 1542 1547 1549 1552 1553 1556 1567 1570 1573 1584 1587 1591 1598 1602 1609 1612 1613 1615 1621 1630 1651 1653 1655 1657 1658 1662 1670 1676 1691 1693 1698 1699 1700 1706 1708 1711 1716 1726 1727 1729 1730 1731 1732 1733 1736 1743 1757 1758 1761 1763 1783 1784 1798 1803 1804 1805 1810 1813 1814 1817 1818 1819 1825 1839 1847 1849 1850 1853 1856 1867 1873 1893 1913 1914 1915 1918 1925 1929 1943 1962 1965 1969 1975 1990 1998 2002 2009 2012 2014 2015 2016 2017 2020 2030 2032 2033 2038 2045 2051 2061 2068 2069 2093 2094 2096 2098 2111 2113 2122 2133 2143 2144 2147 2148 2151 2166 2173 2188 2190 2192 2193 2200 2212 2214 2215 2217 2219 2222 2226 2228 2244 2246 2248 2249 2252 2255 2265 

adjust_bottle/ur5_clean_50/seed.txt

@@ -0,0 +1 @@
+108 126 131 153 181 225 251 256 262 278 297 347 361 396 405 418 531 556 570 597 635 655 660 674 687 811 867 908 954 972 998 1066 1122 1127 1134 1136 1138 1196 1208 1212 1222 1252 1254 1266 1271 1297 1299 1326 1343 1362 

adjust_bottle/ur5_randomized_500/seed.txt

@@ -0,0 +1 @@
+46 84 146 175 185 188 239 253 258 262 263 281 293 313 316 325 349 363 373 374 379 408 423 458 523 532 535 553 602 632 665 667 703 713 751 753 756 757 763 793 802 808 832 840 873 875 906 917 918 948 964 975 990 991 1002 1005 1058 1062 1076 1091 1126 1139 1254 1258 1265 1320 1323 1359 1434 1531 1541 1544 1555 1573 1577 1578 1583 1589 1643 1673 1698 1707 1708 1739 1803 1811 1832 1858 1879 1934 1947 1949 1972 1992 1997 2007 2013 2048 2057 2063 2070 2072 2083 2087 2099 2119 2136 2141 2151 2162 2176 2181 2187 2201 2203 2209 2241 2254 2293 2318 2319 2355 2420 2428 2435 2440 2468 2470 2476 2482 2507 2568 2629 2644 2648 2659 2708 2716 2718 2719 2732 2735 2810 2811 2839 2862 2863 2871 2921 2932 2987 2996 3004 3009 3020 3021 3055 3156 3215 3216 3260 3266 3297 3337 3347 3370 3389 3428 3430 3444 3484 3499 3518 3526 3546 3571 3573 3601 3603 3630 3632 3649 3676 3712 3726 3762 3767 3776 3802 3856 3866 3876 3909 3915 3926 3945 3979 3999 4030 4039 4066 4074 4087 4120 4124 4131 4136 4181 4196 4202 4215 4236 4286 4297 4321 4328 4331 4340 4345 4373 4387 4422 4434 4439 4445 4458 4461 4487 4490 4515 4521 4522 4541 4557 4566 4579 4600 4613 4616 4633 4646 4651 4658 4663 4667 4686 4692 4702 4707 4764 4822 4836 4860 4873 4880 4893 4919 4930 4937 4945 4949 4956 4979 5009 5038 5082 5106 5137 5218 5251 5276 5283 5287 5289 5294 5302 5365 5368 5370 5382 5383 5385 5428 5430 5440 5450 5461 5480 5482 5505 5510 5514 5610 5619 5645 5689 5701 5709 5725 5764 5768 5791 5804 5831 5834 5836 5844 5848 5860 5869 5873 5877 5889 5897 5949 5958 5974 6005 6054 6086 6087 6115 6126 6136 6179 6196 6233 6285 6290 6297 6329 6386 6443 6494 6507 6509 6513 6524 6540 6553 6606 6622 6628 6633 6662 6674 6687 6715 6733 6739 6744 6750 6765 6823 6848 6888 6918 6939 6952 6975 7064 7070 7103 7105 7113 7117 7137 7154 7160 7207 7216 7243 7250 7253 7276 7277 7287 7288 7311 7330 7374 7393 7410 7432 7439 7485 7488 7522 7567 7568 7575 7634 7676 7690 7712 7760 7797 7818 7834 7868 7869 7939 7946 8067 8072 8086 8105 8107 8134 8149 8160 8165 8167 8169 8177 8180 8199 8201 8247 8261 8264 8287 8297 8304 8318 8343 8376 8382 8389 8403 8415 8422 8446 8451 8483 8489 8490 8495 8496 8582 8602 8617 8626 8633 8646 8648 8752 8760 8784 8815 8820 8827 8864 8907 8908 8937 8940 8959 8970 8971 8984 9016 9116 9121 9133 9140 9229 9258 9285 9286 9300 9301 9313 9317 9368 9390 9471 9491 9506 9531 9558 9583 9602 9617 9622 9645 9646 9650 9661 9694 9697 9703 9735 9736 9738 9743 9757 9759 9760 9763 

dump_bin_bigbin/arx-x5_randomized_500/instructions/episode231.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arm to pick the simple tabletop trashbin, pour in bin",
+    "Move the arm, take the light gray cylindrical trashbin, and pour.",
+    "Use the arm to empty the light gray waste container into the bin.",
+    "Pick the open-top tabletrashbin up, pour all balls inside bin",
+    "Raise the small tabletop trashbin to dump its contents out.",
+    "Take hold of the minimalist gray tabletrashbin and dump the balls.",
+    "Pour balls from the round gray tabletrashbin into the bin.",
+    "Direct the arm to grab the round gray tabletrashbin and tilt.",
+    "Take the small tabletop trashbin and empty balls into the bin.",
+    "Use the arm to move the light gray tabletrashbin and pour.",
+    "Use the plastic tabletrashbin to pour the balls out.",
+    "Use the arm to grab the light gray tabletrashbin and pour.",
+    "Hold the open gray tabletrashbin and pour all balls into bin",
+    "Lift up the light gray cylindrical trashbin, then pour balls.",
+    "Grab the cylindrical tabletrashbin and pour it out.",
+    "Lift the minimalist gray tabletrashbin, pour into the big bin.",
+    "Lift the light gray waste container and pour contents down.",
+    "Grab the small tabletop trashbin, pour its contents away.",
+    "Hold the cylindrical tabletrashbin, dump balls in big bin",
+    "Pick up the small tabletop trashbin, empty into the big bin",
+    "Use the arm to lift the minimalist gray tabletrashbin and empty it.",
+    "Grab the round gray tabletrashbin with arm and pour contents",
+    "Pick up the open-top tabletrashbin and pour carefully.",
+    "Take the small tabletop trashbin and pour the balls.",
+    "Lift the light gray waste container, pour contents into big bin",
+    "Grab and tilt the light gray cylindrical trashbin to empty the balls.",
+    "Lift the light gray cylindrical trashbin using the arm to pour balls.",
+    "Lift the cylindrical tabletrashbin, then pour the balls.",
+    "Take the light gray tabletrashbin and empty its contents.",
+    "Take the round gray tabletrashbin and pour contents.",
+    "Control the arm to raise the round gray tabletrashbin and pour.",
+    "Grab the light gray waste container and transfer balls to the bin.",
+    "Grab the light gray waste container, then pour balls into the bin.",
+    "Use arm to grab the light gray smooth tabletrashbin, dump contents",
+    "Pick up the plastic tabletrashbin and pour into bin.",
+    "Pick up the light gray waste container using the arm, pour balls.",
+    "Hold the minimalist gray tabletrashbin, then pour contents.",
+    "Hold the simple tabletop trashbin and pour the balls.",
+    "Secure the open-top tabletrashbin and pour the balls.",
+    "Take the light gray tabletrashbin and pour the balls out.",
+    "Pick the plastic tabletrashbin, pour its contents out.",
+    "Hold the open-top tabletrashbin and dump its balls.",
+    "Take the light gray cylindrical trashbin using arm, pour contents inside",
+    "Take hold of the small tabletop trashbin, pour contents.",
+    "Lift the open gray tabletrashbin and pour its contents into bin.",
+    "Lift the cylindrical tabletrashbin and pour balls into the bin.",
+    "Grasp the light gray cylindrical trashbin and empty it out.",
+    "Grab the light gray waste container and empty it into the bin.",
+    "Grab the small tabletop trashbin and transfer balls.",
+    "Lift the open gray tabletrashbin, pour the balls into big bin",
+    "Use arm to pick the cylindrical tabletrashbin, pour in bin",
+    "Move the arm, take the open gray tabletrashbin, and pour.",
+    "Use the arm to empty the light gray cylindrical trashbin into the bin.",
+    "Pick the light gray smooth tabletrashbin up, pour all balls inside bin",
+    "Raise the plastic tabletrashbin to dump its contents out.",
+    "Take hold of the light gray cylindrical trashbin and dump the balls.",
+    "Pour balls from the plastic tabletrashbin into the bin.",
+    "Direct the arm to grab the open gray tabletrashbin and tilt.",
+    "Take the plastic tabletrashbin and empty balls into the bin.",
+    "Use the arm to move the simple tabletop trashbin and pour.",
+    "Use the light gray waste container to pour the balls out.",
+    "Use the arm to grab the small tabletop trashbin and pour.",
+    "Hold the plastic tabletrashbin and pour all balls into bin",
+    "Lift up the open-top tabletrashbin, then pour balls.",
+    "Grab the plastic tabletrashbin and pour it out.",
+    "Lift the round gray tabletrashbin, pour into the big bin.",
+    "Lift the round gray tabletrashbin and pour contents down.",
+    "Grab the minimalist gray tabletrashbin, pour its contents away.",
+    "Hold the minimalist gray tabletrashbin, dump balls in big bin",
+    "Pick up the open-top tabletrashbin, empty into the big bin",
+    "Use the arm to lift the light gray cylindrical trashbin and empty it.",
+    "Grab the open-top tabletrashbin with arm and pour contents",
+    "Pick up the light gray tabletrashbin and pour carefully.",
+    "Take the plastic tabletrashbin and pour the balls.",
+    "Lift the light gray smooth tabletrashbin, pour contents into big bin",
+    "Grab and tilt the round gray tabletrashbin to empty the balls.",
+    "Lift the small tabletop trashbin using the arm to pour balls.",
+    "Lift the light gray smooth tabletrashbin, then pour the balls.",
+    "Take the light gray tabletrashbin and empty its contents.",
+    "Take the light gray cylindrical trashbin and pour contents.",
+    "Control the arm to raise the plastic tabletrashbin and pour.",
+    "Grab the light gray cylindrical trashbin and transfer balls to the bin.",
+    "Grab the round gray tabletrashbin, then pour balls into the bin.",
+    "Use arm to grab the light gray smooth tabletrashbin, dump contents",
+    "Pick up the round gray tabletrashbin and pour into bin.",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Hold the light gray waste container, then pour contents.",
+    "Hold the cylindrical tabletrashbin and pour the balls.",
+    "Secure the light gray smooth tabletrashbin and pour the balls.",
+    "Take the light gray cylindrical trashbin and pour the balls out.",
+    "Pick the light gray tabletrashbin, pour its contents out.",
+    "Hold the round gray tabletrashbin and dump its balls.",
+    "Take the small tabletop trashbin using arm, pour contents inside",
+    "Take hold of the light gray cylindrical trashbin, pour contents.",
+    "Lift the cylindrical tabletrashbin and pour its contents into bin.",
+    "Lift the minimalist gray tabletrashbin and pour balls into the bin.",
+    "Grasp the cylindrical tabletrashbin and empty it out.",
+    "Grab the simple tabletop trashbin and empty it into the bin.",
+    "Grab the simple tabletop trashbin and transfer balls.",
+    "Lift the minimalist gray tabletrashbin, pour the balls into big bin"
+  ],
+  "unseen": [
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin.",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Grab the gray trashbin for tabletop and pour balls.",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Grab the gray trashbin for tabletop and pour balls.",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin.",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the small smooth gray trashbin and pour the balls.",
+    "Lift the tabletrashbin made of plastic and transfer the contents.",
+    "Take the gray trashbin for tabletop and empty it.",
+    "Grab the gray trashbin for tabletop and pour balls.",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the gray trashbin for tabletop into the big bin.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Lift the small smooth gray trashbin and transfer the contents.",
+    "Take the gray trashbin for tabletop and empty it.",
+    "Grab the gray trashbin for tabletop and pour balls.",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Pick up the small smooth gray trashbin and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Grab the small smooth gray trashbin and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Grab the tabletrashbin made of plastic and pour balls.",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Lift the tabletrashbin made of plastic and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the tabletrashbin made of plastic and transfer the contents.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Pick up the tabletrashbin made of plastic, pour balls into the bin.",
+    "Pick up the gray trashbin for tabletop and pour it.",
+    "Take the gray trashbin for tabletop and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin.",
+    "Lift the small smooth gray trashbin and empty it.",
+    "Grab the tabletrashbin made of plastic and pour into big bin",
+    "Grab the gray trashbin for tabletop and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the tabletrashbin made of plastic and empty it.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Pick up the small smooth gray trashbin, pour balls into the bin.",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the tabletrashbin made of plastic into the big bin.",
+    "Lift the gray trashbin for tabletop and empty it.",
+    "Grab the gray trashbin for tabletop and pour into big bin",
+    "Grab the tabletrashbin made of plastic and pour the balls.",
+    "Lift the gray trashbin for tabletop and transfer the contents.",
+    "Take the small smooth gray trashbin and empty it.",
+    "Grab the small smooth gray trashbin and pour balls.",
+    "Pick up the gray trashbin for tabletop, pour balls into the bin.",
+    "Pick up the tabletrashbin made of plastic and pour it.",
+    "Take the tabletrashbin made of plastic and empty into big bin",
+    "Pour the small smooth gray trashbin into the big bin."
+  ]
+}

dump_bin_bigbin/arx-x5_randomized_500/instructions/episode247.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the tabletrashbin for holding waste, pour contents.",
+    "Grab the light gray tabletrashbin and empty it into the bin.",
+    "Hold the light gray trashbin with open top and pour the balls.",
+    "Pick up the small rectangular bin for waste and pour carefully.",
+    "Lift the bucket-shaped gray trashbin, pour contents into big bin",
+    "Grasp the small rectangular tabletrashbin and empty it out.",
+    "Lift the small rectangular bin for waste and pour its contents into bin.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Use the arm to move the tabletrashbin for holding waste and pour.",
+    "Pick the light gray bucket-shaped waste bin up, pour all balls inside bin",
+    "Hold the small rectangular bin for waste and pour all balls into bin",
+    "Pour balls from the light gray trashbin with open top into the bin.",
+    "Take the bucket-shaped gray trashbin and pour contents.",
+    "Raise the tabletrashbin for holding waste to dump its contents out.",
+    "Grab the rectangular tabletop waste container, then pour balls into the bin.",
+    "Use arm to grab the small rectangular tabletrashbin, dump contents",
+    "Use arm to pick the tabletrashbin for holding waste, pour in bin",
+    "Lift the small rectangular tabletrashbin, pour into the big bin.",
+    "Move the arm, take the light gray bucket-shaped waste bin, and pour.",
+    "Take the tabletrashbin for holding waste and empty its contents.",
+    "Lift the rectangular tabletop waste container using the arm to pour balls.",
+    "Take the tabletrashbin with smooth grooves and pour the balls.",
+    "Pick up the bucket-shaped gray trashbin, empty into the big bin",
+    "Take the light gray bucket-shaped waste bin using arm, pour contents inside",
+    "Hold the small rectangular bin for waste, then pour contents.",
+    "Grab the light gray bucket-shaped waste bin and pour it out.",
+    "Use the arm to grab the open-top tabletrashbin and pour.",
+    "Lift the tabletrashbin with smooth grooves and pour balls into the bin.",
+    "Hold the tabletrashbin with smooth grooves and dump its balls.",
+    "Use the arm to lift the tabletrashbin for holding waste and empty it.",
+    "Pick the gray plastic trashbin, pour its contents out.",
+    "Secure the light gray bucket-shaped waste bin and pour the balls.",
+    "Hold the small rectangular bin for waste, dump balls in big bin",
+    "Take hold of the small rectangular bin for waste and dump the balls.",
+    "Grab the tabletrashbin with smooth grooves and transfer balls.",
+    "Use the small rectangular bin for waste to pour the balls out.",
+    "Lift the small rectangular bin for waste, pour the balls into big bin",
+    "Lift up the light gray bucket-shaped waste bin, then pour balls.",
+    "Lift the bucket-shaped gray trashbin and pour contents down.",
+    "Direct the arm to grab the rectangular tabletop waste container and tilt.",
+    "Control the arm to raise the small rectangular bin for waste and pour.",
+    "Take the small light gray waste bin and empty balls into the bin.",
+    "Grab the bucket-shaped gray trashbin, pour its contents away.",
+    "Grab the light gray trashbin with open top with arm and pour contents",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Use the arm to empty the small rectangular bin for waste into the bin.",
+    "Lift the light gray bucket-shaped waste bin, then pour the balls.",
+    "Grab the small rectangular tabletrashbin and transfer balls to the bin.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Take the small rectangular tabletrashbin and pour the balls out.",
+    "Take hold of the bucket-shaped gray trashbin, pour contents.",
+    "Grab the open-top tabletrashbin and empty it into the bin.",
+    "Hold the open-top tabletrashbin and pour the balls.",
+    "Pick up the rectangular tabletop waste container and pour carefully.",
+    "Lift the rectangular tabletop waste container, pour contents into big bin",
+    "Grasp the light gray trashbin with open top and empty it out.",
+    "Lift the small rectangular tabletrashbin and pour its contents into bin.",
+    "Grab and tilt the bucket-shaped gray trashbin to empty the balls.",
+    "Use the arm to move the light gray trashbin with open top and pour.",
+    "Pick the tabletrashbin for holding waste up, pour all balls inside bin",
+    "Hold the small rectangular tabletrashbin and pour all balls into bin",
+    "Pour balls from the tabletrashbin with smooth grooves into the bin.",
+    "Take the small light gray waste bin and pour contents.",
+    "Raise the light gray trashbin with open top to dump its contents out.",
+    "Grab the gray plastic trashbin, then pour balls into the bin.",
+    "Use arm to grab the rectangular tabletop waste container, dump contents",
+    "Use arm to pick the light gray trashbin with open top, pour in bin",
+    "Lift the small rectangular tabletrashbin, pour into the big bin.",
+    "Move the arm, take the small rectangular tabletrashbin, and pour.",
+    "Take the rectangular tabletop waste container and empty its contents.",
+    "Lift the bucket-shaped gray trashbin using the arm to pour balls.",
+    "Take the tabletrashbin for holding waste and pour the balls.",
+    "Pick up the small rectangular tabletrashbin, empty into the big bin",
+    "Take the light gray trashbin with open top using arm, pour contents inside",
+    "Hold the tabletrashbin with smooth grooves, then pour contents.",
+    "Grab the light gray tabletrashbin and pour it out.",
+    "Use the arm to grab the tabletrashbin with smooth grooves and pour.",
+    "Lift the small rectangular bin for waste and pour balls into the bin.",
+    "Hold the rectangular tabletop waste container and dump its balls.",
+    "Use the arm to lift the small rectangular bin for waste and empty it.",
+    "Pick the tabletrashbin with smooth grooves, pour its contents out.",
+    "Secure the gray plastic trashbin and pour the balls.",
+    "Hold the light gray bucket-shaped waste bin, dump balls in big bin",
+    "Take hold of the tabletrashbin with smooth grooves and dump the balls.",
+    "Grab the light gray trashbin with open top and transfer balls.",
+    "Use the gray plastic trashbin to pour the balls out.",
+    "Lift the light gray trashbin with open top, pour the balls into big bin",
+    "Lift up the small rectangular tabletrashbin, then pour balls.",
+    "Lift the open-top tabletrashbin and pour contents down.",
+    "Direct the arm to grab the small rectangular tabletrashbin and tilt.",
+    "Control the arm to raise the open-top tabletrashbin and pour.",
+    "Take the light gray tabletrashbin and empty balls into the bin.",
+    "Grab the bucket-shaped gray trashbin, pour its contents away.",
+    "Grab the light gray trashbin with open top with arm and pour contents",
+    "Pick up the light gray trashbin with open top using the arm, pour balls.",
+    "Use the arm to empty the small light gray waste bin into the bin.",
+    "Lift the small light gray waste bin, then pour the balls.",
+    "Grab the tabletrashbin for holding waste and transfer balls to the bin.",
+    "Pick up the bucket-shaped gray trashbin and pour into bin.",
+    "Take the gray plastic trashbin and pour the balls out."
+  ],
+  "unseen": [
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pour the smooth plastic tabletrashbin into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the compact tabletop trashbin and empty it.",
+    "Pick up the smooth plastic tabletrashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the compact tabletop trashbin and pour into big bin",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Grab the smooth plastic tabletrashbin and pour the balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the smooth plastic tabletrashbin and pour into big bin",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the smooth plastic tabletrashbin and pour it.",
+    "Take the smooth plastic tabletrashbin and empty into big bin",
+    "Lift the compact tabletop trashbin and transfer the contents.",
+    "Lift the desktop tabletrashbin for small trash and empty it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the compact tabletop trashbin and pour it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Pick up the desktop tabletrashbin for small trash, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Take the desktop tabletrashbin for small trash and empty it.",
+    "Grab the compact tabletop trashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Grab the desktop tabletrashbin for small trash and pour the balls.",
+    "Pour the compact tabletop trashbin into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Take the compact tabletop trashbin and empty it.",
+    "Grab the smooth plastic tabletrashbin and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the desktop tabletrashbin for small trash and empty into big bin",
+    "Lift the desktop tabletrashbin for small trash and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it.",
+    "Pick up the compact tabletop trashbin, pour balls into the bin.",
+    "Grab the compact tabletop trashbin and pour the balls.",
+    "Pour the desktop tabletrashbin for small trash into the big bin.",
+    "Grab the desktop tabletrashbin for small trash and pour into big bin",
+    "Take the smooth plastic tabletrashbin and empty it.",
+    "Grab the desktop tabletrashbin for small trash and pour balls.",
+    "Pick up the desktop tabletrashbin for small trash and pour it.",
+    "Take the compact tabletop trashbin and empty into big bin",
+    "Lift the smooth plastic tabletrashbin and transfer the contents.",
+    "Lift the smooth plastic tabletrashbin and empty it."
+  ]
+}

dump_bin_bigbin/arx-x5_randomized_500/instructions/episode266.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the tabletrashbin made of plastic and dump its balls.",
+    "Lift the small container with yellow logo, pour the balls into big bin",
+    "Grab the tabletrashbin with grooves on sides and pour it out.",
+    "Grab the smooth tabletrashbin for small waste, pour its contents away.",
+    "Grab the tabletrashbin with yellow symbol and transfer balls to the bin.",
+    "Use the arm to lift the smooth tabletrashbin for small waste and empty it.",
+    "Grab the light gray trash bin with arm and pour contents",
+    "Use the arm to grab the light gray tabletrashbin and pour.",
+    "Pick up the light gray tabletrashbin and pour carefully.",
+    "Grab and tilt the tabletrashbin made of plastic to empty the balls.",
+    "Use the arm to empty the tabletrashbin with grooves on sides into the bin.",
+    "Grab the compact rectangular tabletrashbin and empty it into the bin.",
+    "Use the arm to move the tabletrashbin with yellow symbol and pour.",
+    "Lift the small trash container, then pour the balls.",
+    "Direct the arm to grab the light gray trash bin and tilt.",
+    "Control the arm to raise the smooth plastic tabletrashbin and pour.",
+    "Pick up the lightweight trash container and pour into bin.",
+    "Lift the smooth tabletrashbin for small waste, pour contents into big bin",
+    "Take the tabletrashbin with grooves on sides and empty its contents.",
+    "Lift the light gray trash bin using the arm to pour balls.",
+    "Grab the small container with yellow logo, then pour balls into the bin.",
+    "Take the small trash container and pour contents.",
+    "Pick the compact rectangular tabletrashbin, pour its contents out.",
+    "Secure the light gray tabletrashbin and pour the balls.",
+    "Take hold of the tabletrashbin made of plastic and dump the balls.",
+    "Hold the tabletrashbin made of plastic and pour the balls.",
+    "Use arm to grab the light gray trash bin, dump contents",
+    "Hold the lightweight trash container, then pour contents.",
+    "Pick up the compact bin with rounded edges using the arm, pour balls.",
+    "Hold the small container with yellow logo, dump balls in big bin",
+    "Take the small container with yellow logo using arm, pour contents inside",
+    "Take hold of the smooth plastic tabletrashbin, pour contents.",
+    "Move the arm, take the smooth plastic tabletrashbin, and pour.",
+    "Lift the smooth tabletrashbin for small waste and pour contents down.",
+    "Raise the smooth plastic tabletrashbin to dump its contents out.",
+    "Take the small container with yellow logo and pour the balls.",
+    "Use arm to pick the tabletrashbin with grooves on sides, pour in bin",
+    "Grab the compact bin with rounded edges and transfer balls.",
+    "Pick up the compact rectangular tabletrashbin, empty into the big bin",
+    "Pick the compact bin with rounded edges up, pour all balls inside bin",
+    "Lift up the tabletrashbin with grooves on sides, then pour balls.",
+    "Take the smooth tabletrashbin for small waste and pour the balls out.",
+    "Pour balls from the tabletrashbin with grooves on sides into the bin.",
+    "Lift the tabletrashbin with yellow symbol and pour balls into the bin.",
+    "Lift the tabletrashbin with grooves on sides and pour its contents into bin.",
+    "Hold the light gray tabletrashbin and pour all balls into bin",
+    "Take the light gray tabletrashbin and empty balls into the bin.",
+    "Lift the light gray tabletrashbin, pour into the big bin.",
+    "Use the lightweight trash container to pour the balls out.",
+    "Grasp the tabletrashbin made of plastic and empty it out.",
+    "Hold the light gray trash bin and dump its balls.",
+    "Lift the small container with yellow logo, pour the balls into big bin",
+    "Grab the tabletrashbin made of plastic and pour it out.",
+    "Grab the small container with yellow logo, pour its contents away.",
+    "Grab the compact bin with rounded edges and transfer balls to the bin.",
+    "Use the arm to lift the small container with yellow logo and empty it.",
+    "Grab the tabletrashbin with grooves on sides with arm and pour contents",
+    "Use the arm to grab the small container with yellow logo and pour.",
+    "Pick up the compact bin with rounded edges and pour carefully.",
+    "Grab and tilt the light gray tabletrashbin to empty the balls.",
+    "Use the arm to empty the smooth plastic tabletrashbin into the bin.",
+    "Grab the smooth tabletrashbin for small waste and empty it into the bin.",
+    "Use the arm to move the small container with yellow logo and pour.",
+    "Lift the small container with yellow logo, then pour the balls.",
+    "Direct the arm to grab the light gray trash bin and tilt.",
+    "Control the arm to raise the small trash container and pour.",
+    "Pick up the tabletrashbin made of plastic and pour into bin.",
+    "Lift the small container with yellow logo, pour contents into big bin",
+    "Take the smooth plastic tabletrashbin and empty its contents.",
+    "Lift the smooth plastic tabletrashbin using the arm to pour balls.",
+    "Grab the smooth plastic tabletrashbin, then pour balls into the bin.",
+    "Take the tabletrashbin with grooves on sides and pour contents.",
+    "Pick the light gray tabletrashbin, pour its contents out.",
+    "Secure the light gray trash bin and pour the balls.",
+    "Take hold of the compact bin with rounded edges and dump the balls.",
+    "Hold the compact bin with rounded edges and pour the balls.",
+    "Use arm to grab the light gray tabletrashbin, dump contents",
+    "Hold the compact rectangular tabletrashbin, then pour contents.",
+    "Pick up the light gray tabletrashbin using the arm, pour balls.",
+    "Hold the light gray tabletrashbin, dump balls in big bin",
+    "Take the lightweight trash container using arm, pour contents inside",
+    "Take hold of the small container with yellow logo, pour contents.",
+    "Move the arm, take the smooth tabletrashbin for small waste, and pour.",
+    "Lift the compact rectangular tabletrashbin and pour contents down.",
+    "Raise the light gray trash bin to dump its contents out.",
+    "Take the tabletrashbin with grooves on sides and pour the balls.",
+    "Use arm to pick the compact bin with rounded edges, pour in bin",
+    "Grab the compact rectangular tabletrashbin and transfer balls.",
+    "Pick up the smooth plastic tabletrashbin, empty into the big bin",
+    "Pick the tabletrashbin with yellow symbol up, pour all balls inside bin",
+    "Lift up the light gray tabletrashbin, then pour balls.",
+    "Take the smooth tabletrashbin for small waste and pour the balls out.",
+    "Pour balls from the tabletrashbin with grooves on sides into the bin.",
+    "Lift the light gray tabletrashbin and pour balls into the bin.",
+    "Lift the compact bin with rounded edges and pour its contents into bin.",
+    "Hold the small container with yellow logo and pour all balls into bin",
+    "Take the compact rectangular tabletrashbin and empty balls into the bin.",
+    "Lift the compact rectangular tabletrashbin, pour into the big bin.",
+    "Use the smooth plastic tabletrashbin to pour the balls out.",
+    "Grasp the compact rectangular tabletrashbin and empty it out."
+  ],
+  "unseen": [
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Pick up the rectangular plastic bin, pour balls into the bin.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Lift the rectangular light gray trash bin and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular plastic bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the rectangular light gray trash bin and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Take the tabletrashbin for tabletop use and empty it.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the rectangular light gray trash bin and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pour the tabletrashbin for tabletop use into the big bin.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the tabletrashbin for tabletop use and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular plastic bin and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin",
+    "Grab the tabletrashbin for tabletop use and pour balls.",
+    "Pour the rectangular plastic bin into the big bin.",
+    "Lift the rectangular plastic bin and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular plastic bin and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the rectangular plastic bin and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the rectangular light gray trash bin and pour balls.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the tabletrashbin for tabletop use, pour balls into the bin.",
+    "Pick up the rectangular plastic bin and pour it.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Take the rectangular light gray trash bin and empty it.",
+    "Lift the tabletrashbin for tabletop use and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the rectangular light gray trash bin and empty into big bin",
+    "Grab the rectangular plastic bin and pour balls.",
+    "Pour the rectangular light gray trash bin into the big bin.",
+    "Lift the tabletrashbin for tabletop use and empty it.",
+    "Pick up the rectangular light gray trash bin, pour balls into the bin.",
+    "Pick up the tabletrashbin for tabletop use and pour it.",
+    "Grab the rectangular light gray trash bin and pour into big bin",
+    "Take the rectangular plastic bin and empty it.",
+    "Lift the rectangular light gray trash bin and transfer the contents.",
+    "Grab the tabletrashbin for tabletop use and pour the balls.",
+    "Take the tabletrashbin for tabletop use and empty into big bin"
+  ]
+}