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open_laptop/ur5_randomized_500/instructions/episode13.json

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

open_laptop/ur5_randomized_500/instructions/episode132.json

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

open_laptop/ur5_randomized_500/instructions/episode151.json

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

open_laptop/ur5_randomized_500/instructions/episode183.json

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

open_laptop/ur5_randomized_500/instructions/episode195.json

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

open_laptop/ur5_randomized_500/instructions/episode225.json

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

open_laptop/ur5_randomized_500/instructions/episode233.json

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

open_laptop/ur5_randomized_500/instructions/episode266.json

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

open_laptop/ur5_randomized_500/instructions/episode280.json

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

open_laptop/ur5_randomized_500/instructions/episode281.json

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

open_laptop/ur5_randomized_500/instructions/episode323.json

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

open_laptop/ur5_randomized_500/instructions/episode325.json

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

open_laptop/ur5_randomized_500/instructions/episode326.json

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

open_laptop/ur5_randomized_500/instructions/episode333.json

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

open_laptop/ur5_randomized_500/instructions/episode442.json

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

open_laptop/ur5_randomized_500/instructions/episode457.json

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

open_laptop/ur5_randomized_500/instructions/episode482.json

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

open_laptop/ur5_randomized_500/instructions/episode50.json

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

open_laptop/ur5_randomized_500/instructions/episode58.json

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

open_laptop/ur5_randomized_500/instructions/episode60.json

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