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press_stapler/ur5_randomized_500/instructions/episode11.json

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+{
+  "seen": [
+    "Use one arm the left arm to press the plastic and metal stapler.",
+    "Operate the stapler with rounded edges by pressing it with the left arm.",
+    "Apply pressure to the paper stapler with silver tray firmly",
+    "Press the paper stapler with silver tray to complete the task.",
+    "Push down hard on the white body stapler with accents with the left arm.",
+    "Firmly press down on the handheld stapler to staple.",
+    "Push the stapler with orange top lever until it staples.",
+    "Apply pressure to the white body stapler with accents with the left arm.",
+    "Apply force to the handheld stapler with the left arm",
+    "Lower the left arm onto the stapler the white body stapler with accents.",
+    "Press on the small office stapler using the left arm.",
+    "Firmly push the white stapler with rounded design using the left arm to operate it.",
+    "Push the stapler with orange button down firmly.",
+    "Press the stapler the small office stapler using an arm the left arm.",
+    "Push the stapler the smooth plastic stapler with the left arm.",
+    "Lower the stapler with rounded edges using an arm",
+    "Push down forcefully on the stapler the smooth plastic stapler.",
+    "Apply pressure to the stapler with rounded edges using one arm the left arm.",
+    "Firmly press the paper stapler with silver tray using an arm.",
+    "Push the top of the smooth plastic stapler down",
+    "Push the white body stapler with accents using one arm",
+    "Engage the paper stapler with silver tray by using the left arm to press it.",
+    "Place pressure on the white stapler with rounded design to staple.",
+    "Push down on the stapler for fastening papers firmly.",
+    "Apply pressure on the small office stapler until it works.",
+    "Press on the smooth plastic stapler to activate it.",
+    "Press the stapler for fastening papers to staple the sheets together.",
+    "Push down on the smooth plastic stapler to staple",
+    "Push the small office stapler down completely",
+    "Push down firmly on the stapler with orange button to complete.",
+    "Apply pressure to the paper stapler with silver tray with the left arm.",
+    "Use an arm to press the paper stapler with silver tray",
+    "Push the stapler the stapler with orange button to operate it.",
+    "Simply press the stapler the stapler with rounded edges downward.",
+    "Press the white stapler with rounded design downward using your arm the left arm.",
+    "Apply one arm the left arm to press the handheld stapler firmly.",
+    "Press the handheld stapler until it works",
+    "Press down on the smooth plastic stapler until it functions.",
+    "Use your the left arm to press the stapler the handheld stapler.",
+    "Use one arm to press the modern design stapler.",
+    "Firmly push down on the white stapler with rounded design.",
+    "Use your arm the left arm to push the stapler with orange top lever down.",
+    "Press the plastic and metal stapler firmly to staple",
+    "Push down on the stapler the modern design stapler.",
+    "Push down on the stapler the stapler with orange button.",
+    "Press down on the stapler the stapler with orange button firmly.",
+    "Apply enough force to the modern design stapler to press it.",
+    "Push down on the smooth plastic stapler to staple papers.",
+    "Push the stapler the modern design stapler to activate it.",
+    "Apply force to the stapler with orange top lever to staple.",
+    "Use one arm the left arm to press the stapler with orange button.",
+    "Operate the white body stapler with accents by pressing it with the left arm.",
+    "Apply pressure to the paper stapler with silver tray firmly",
+    "Press the white body stapler with accents to complete the task.",
+    "Push down hard on the paper stapler with silver tray with the left arm.",
+    "Firmly press down on the stapler with orange button to staple.",
+    "Push the white body stapler with accents until it staples.",
+    "Apply pressure to the plastic and metal stapler with the left arm.",
+    "Apply force to the smooth plastic stapler with the left arm",
+    "Lower the left arm onto the stapler the stapler with rounded edges.",
+    "Press on the modern design stapler using the left arm.",
+    "Firmly push the smooth plastic stapler using the left arm to operate it.",
+    "Push the stapler with rounded edges down firmly.",
+    "Press the stapler the plastic and metal stapler using an arm the left arm.",
+    "Push the stapler the stapler with orange top lever with the left arm.",
+    "Lower the paper stapler with silver tray using an arm",
+    "Push down forcefully on the stapler the white body stapler with accents.",
+    "Apply pressure to the handheld stapler using one arm the left arm.",
+    "Firmly press the white stapler with rounded design using an arm.",
+    "Push the top of the plastic and metal stapler down",
+    "Push the handheld stapler using one arm",
+    "Engage the smooth plastic stapler by using the left arm to press it.",
+    "Place pressure on the modern design stapler to staple.",
+    "Push down on the handheld stapler firmly.",
+    "Apply pressure on the stapler with orange button until it works.",
+    "Press on the modern design stapler to activate it.",
+    "Press the paper stapler with silver tray to staple the sheets together.",
+    "Push down on the stapler with orange button to staple",
+    "Push the handheld stapler down completely",
+    "Push down firmly on the white stapler with rounded design to complete.",
+    "Apply pressure to the smooth plastic stapler with the left arm.",
+    "Use an arm to press the handheld stapler",
+    "Push the stapler the smooth plastic stapler to operate it.",
+    "Simply press the stapler the white stapler with rounded design downward.",
+    "Press the stapler with orange top lever downward using your arm the left arm.",
+    "Apply one arm the left arm to press the white stapler with rounded design firmly.",
+    "Press the white body stapler with accents until it works",
+    "Press down on the stapler with rounded edges until it functions.",
+    "Use your the left arm to press the stapler the stapler for fastening papers.",
+    "Use one arm to press the modern design stapler.",
+    "Firmly push down on the stapler with rounded edges.",
+    "Use your arm the left arm to push the small office stapler down.",
+    "Press the stapler with rounded edges firmly to staple",
+    "Push down on the stapler the stapler with rounded edges.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Press down on the stapler the paper stapler with silver tray firmly.",
+    "Apply enough force to the modern design stapler to press it.",
+    "Push down on the modern design stapler to staple papers.",
+    "Push the stapler the paper stapler with silver tray to activate it.",
+    "Apply force to the small office stapler to staple."
+  ],
+  "unseen": [
+    "Use the left arm to press on the compact stapler",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the white stapler with the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Use the left arm to press on the white stapler",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press down on the white stapler firmly using the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press down on the white stapler.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the white stapler with the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Press down on the white stapler firmly using the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Use the left arm to press on the white stapler",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the white stapler with the left arm",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press down on the white stapler.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the white stapler with the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with the left arm",
+    "Press down on the white stapler firmly using the left arm.",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the white stapler with the left arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode111.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply pressure to the handheld blue and silver stapler using one arm the right arm.",
+    "Use one arm to press the manual blue stapler.",
+    "Press down on the manual blue stapler until it functions.",
+    "Apply force to the stapler with smooth blue finish with the right arm",
+    "Firmly press the stapler with curved blue top using an arm.",
+    "Push down firmly on the stapler with curved blue top to complete.",
+    "Use one arm the right arm to press the compact stapler with smooth surface.",
+    "Push the handheld blue and silver stapler down completely",
+    "Use your arm the right arm to push the compact stapler with smooth surface down.",
+    "Press the curved blue and silver stapler until it works",
+    "Simply press the stapler the blue stapler downward.",
+    "Press the blue stapler to complete the task.",
+    "Push down on the stapler with curved blue top firmly.",
+    "Press down on the stapler the handheld blue and silver stapler firmly.",
+    "Push down on the stapler the blue stapler with shiny silver parts.",
+    "Engage the plastic stapler with metal on base by using the right arm to press it.",
+    "Apply enough force to the stapler with curved blue top to press it.",
+    "Use an arm to press the blue stapler with shiny silver parts",
+    "Lower the handheld blue and silver stapler using an arm",
+    "Push the handheld blue and silver stapler down firmly.",
+    "Push down on the blue plastic stapler with silver metal to staple",
+    "Press the compact stapler with smooth surface downward using your arm the right arm.",
+    "Apply pressure on the blue stapler with shiny silver parts until it works.",
+    "Push down forcefully on the stapler the manual blue stapler.",
+    "Push the stapler the plastic stapler with metal on base with the right arm.",
+    "Firmly push down on the blue stapler with ergonomic curve.",
+    "Press the curved blue and silver stapler firmly to staple",
+    "Firmly push the stapler with curved blue top using the right arm to operate it.",
+    "Firmly press down on the manual blue stapler to staple.",
+    "Apply force to the curved blue and silver stapler to staple.",
+    "Lower the right arm onto the stapler the blue plastic stapler with silver metal.",
+    "Press the plastic stapler with metal on base to staple the sheets together.",
+    "Operate the blue stapler by pressing it with the right arm.",
+    "Apply pressure to the blue plastic stapler with silver metal with the right arm.",
+    "Press the stapler the stapler with curved blue top using an arm the right arm.",
+    "Push down hard on the blue stapler with the right arm.",
+    "Push the blue plastic stapler with silver metal until it staples.",
+    "Push down on the stapler the blue stapler with shiny silver parts.",
+    "Press on the manual blue stapler to activate it.",
+    "Push the manual blue stapler using one arm",
+    "Apply pressure to the metallic stapler with blue cover with the right arm.",
+    "Push the stapler the curved blue and silver stapler to activate it.",
+    "Push the top of the blue stapler with shiny silver parts down",
+    "Apply one arm the right arm to press the metallic stapler with blue cover firmly.",
+    "Apply pressure to the blue stapler with ergonomic curve firmly",
+    "Place pressure on the blue plastic stapler with silver metal to staple.",
+    "Press on the blue plastic stapler with silver metal using the right arm.",
+    "Use your the right arm to press the stapler the stapler with smooth blue finish.",
+    "Push the stapler the blue stapler with shiny silver parts to operate it.",
+    "Push down on the blue stapler with ergonomic curve to staple papers.",
+    "Apply pressure to the handheld blue and silver stapler using one arm the right arm.",
+    "Use one arm to press the blue stapler with ergonomic curve.",
+    "Press down on the blue stapler with shiny silver parts until it functions.",
+    "Apply force to the plastic stapler with metal on base with the right arm",
+    "Firmly press the compact stapler with smooth surface using an arm.",
+    "Push down firmly on the blue stapler with ergonomic curve to complete.",
+    "Use one arm the right arm to press the plastic stapler with metal on base.",
+    "Push the curved blue and silver stapler down completely",
+    "Use your arm the right arm to push the metallic stapler with blue cover down.",
+    "Press the compact stapler with smooth surface until it works",
+    "Simply press the stapler the curved blue and silver stapler downward.",
+    "Press the plastic stapler with metal on base to complete the task.",
+    "Push down on the metallic stapler with blue cover firmly.",
+    "Press down on the stapler the stapler with curved blue top firmly.",
+    "Push down on the stapler the manual blue stapler.",
+    "Engage the plastic stapler with metal on base by using the right arm to press it.",
+    "Apply enough force to the blue stapler with ergonomic curve to press it.",
+    "Use an arm to press the blue stapler with shiny silver parts",
+    "Lower the blue stapler with shiny silver parts using an arm",
+    "Push the plastic stapler with metal on base down firmly.",
+    "Push down on the curved blue and silver stapler to staple",
+    "Press the blue stapler downward using your arm the right arm.",
+    "Apply pressure on the compact stapler with smooth surface until it works.",
+    "Push down forcefully on the stapler the plastic stapler with metal on base.",
+    "Push the stapler the stapler with curved blue top with the right arm.",
+    "Firmly push down on the plastic stapler with metal on base.",
+    "Press the compact stapler with smooth surface firmly to staple",
+    "Firmly push the stapler with smooth blue finish using the right arm to operate it.",
+    "Firmly press down on the curved blue and silver stapler to staple.",
+    "Apply force to the blue stapler with shiny silver parts to staple.",
+    "Lower the right arm onto the stapler the blue stapler with ergonomic curve.",
+    "Press the manual blue stapler to staple the sheets together.",
+    "Operate the metallic stapler with blue cover by pressing it with the right arm.",
+    "Apply pressure to the manual blue stapler with the right arm.",
+    "Press the stapler the curved blue and silver stapler using an arm the right arm.",
+    "Push down hard on the handheld blue and silver stapler with the right arm.",
+    "Push the blue plastic stapler with silver metal until it staples.",
+    "Push down on the stapler the stapler with curved blue top.",
+    "Press on the plastic stapler with metal on base to activate it.",
+    "Push the blue plastic stapler with silver metal using one arm",
+    "Apply pressure to the blue stapler with shiny silver parts with the right arm.",
+    "Push the stapler the blue plastic stapler with silver metal to activate it.",
+    "Push the top of the stapler with smooth blue finish down",
+    "Apply one arm the right arm to press the stapler with smooth blue finish firmly.",
+    "Apply pressure to the blue stapler with ergonomic curve firmly",
+    "Place pressure on the stapler with curved blue top to staple.",
+    "Press on the handheld blue and silver stapler using the right arm.",
+    "Use your the right arm to press the stapler the blue stapler with shiny silver parts.",
+    "Push the stapler the plastic stapler with metal on base to operate it.",
+    "Push down on the stapler with smooth blue finish to staple papers."
+  ],
+  "unseen": [
+    "Press down on the small stapler with simple design with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the stapler the blue stapler for holding papers with the arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the stapler the blue stapler for holding papers with the arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode140.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to press the metallic stapler with blue cover",
+    "Push the stapler with smooth blue finish down firmly.",
+    "Apply pressure to the blue stapler using one arm the right arm.",
+    "Use your arm the right arm to push the compact stapler with smooth surface down.",
+    "Firmly push down on the blue stapler with ergonomic curve.",
+    "Press the stapler the metallic stapler with blue cover using an arm the right arm.",
+    "Press on the blue stapler with shiny silver parts to activate it.",
+    "Press the blue stapler until it works",
+    "Apply pressure to the blue stapler with ergonomic curve firmly",
+    "Firmly press the stapler with smooth blue finish using an arm.",
+    "Push the curved blue and silver stapler down completely",
+    "Push down firmly on the blue stapler with shiny silver parts to complete.",
+    "Press down on the manual blue stapler until it functions.",
+    "Push down on the stapler with smooth blue finish to staple papers.",
+    "Simply press the stapler the blue plastic stapler with silver metal downward.",
+    "Apply one arm the right arm to press the blue stapler firmly.",
+    "Apply pressure to the blue stapler with ergonomic curve with the right arm.",
+    "Push the stapler with curved blue top until it staples.",
+    "Apply force to the metallic stapler with blue cover with the right arm",
+    "Push the stapler the blue stapler with shiny silver parts to activate it.",
+    "Press the blue stapler downward using your arm the right arm.",
+    "Firmly press down on the blue plastic stapler with silver metal to staple.",
+    "Press the compact stapler with smooth surface firmly to staple",
+    "Push the top of the stapler with curved blue top down",
+    "Press the compact stapler with smooth surface to complete the task.",
+    "Place pressure on the blue stapler with ergonomic curve to staple.",
+    "Engage the manual blue stapler by using the right arm to press it.",
+    "Push the blue stapler with ergonomic curve using one arm",
+    "Push down on the blue stapler with shiny silver parts firmly.",
+    "Push down on the stapler the metallic stapler with blue cover.",
+    "Apply pressure on the stapler with curved blue top until it works.",
+    "Press down on the stapler the metallic stapler with blue cover firmly.",
+    "Push the stapler the blue stapler with shiny silver parts to operate it.",
+    "Use one arm to press the handheld blue and silver stapler.",
+    "Push down on the compact stapler with smooth surface to staple",
+    "Push down forcefully on the stapler the handheld blue and silver stapler.",
+    "Lower the manual blue stapler using an arm",
+    "Use your the right arm to press the stapler the curved blue and silver stapler.",
+    "Push down on the stapler the handheld blue and silver stapler.",
+    "Apply force to the compact stapler with smooth surface to staple.",
+    "Apply enough force to the metallic stapler with blue cover to press it.",
+    "Use one arm the right arm to press the curved blue and silver stapler.",
+    "Push the stapler the compact stapler with smooth surface with the right arm.",
+    "Push down hard on the handheld blue and silver stapler with the right arm.",
+    "Lower the right arm onto the stapler the plastic stapler with metal on base.",
+    "Firmly push the manual blue stapler using the right arm to operate it.",
+    "Apply pressure to the blue stapler with shiny silver parts with the right arm.",
+    "Press the blue stapler with shiny silver parts to staple the sheets together.",
+    "Operate the stapler with smooth blue finish by pressing it with the right arm.",
+    "Press on the handheld blue and silver stapler using the right arm.",
+    "Use an arm to press the plastic stapler with metal on base",
+    "Push the handheld blue and silver stapler down firmly.",
+    "Apply pressure to the metallic stapler with blue cover using one arm the right arm.",
+    "Use your arm the right arm to push the blue stapler with shiny silver parts down.",
+    "Firmly push down on the metallic stapler with blue cover.",
+    "Press the stapler the blue stapler with shiny silver parts using an arm the right arm.",
+    "Press on the handheld blue and silver stapler to activate it.",
+    "Press the stapler with curved blue top until it works",
+    "Apply pressure to the plastic stapler with metal on base firmly",
+    "Firmly press the blue plastic stapler with silver metal using an arm.",
+    "Push the handheld blue and silver stapler down completely",
+    "Push down firmly on the curved blue and silver stapler to complete.",
+    "Press down on the plastic stapler with metal on base until it functions.",
+    "Push down on the blue stapler with shiny silver parts to staple papers.",
+    "Simply press the stapler the compact stapler with smooth surface downward.",
+    "Apply one arm the right arm to press the blue stapler firmly.",
+    "Apply pressure to the compact stapler with smooth surface with the right arm.",
+    "Push the blue plastic stapler with silver metal until it staples.",
+    "Apply force to the curved blue and silver stapler with the right arm",
+    "Push the stapler the blue stapler with ergonomic curve to activate it.",
+    "Press the plastic stapler with metal on base downward using your arm the right arm.",
+    "Firmly press down on the compact stapler with smooth surface to staple.",
+    "Press the blue plastic stapler with silver metal firmly to staple",
+    "Push the top of the blue stapler with shiny silver parts down",
+    "Press the plastic stapler with metal on base to complete the task.",
+    "Place pressure on the plastic stapler with metal on base to staple.",
+    "Engage the curved blue and silver stapler by using the right arm to press it.",
+    "Push the plastic stapler with metal on base using one arm",
+    "Push down on the curved blue and silver stapler firmly.",
+    "Push down on the stapler the handheld blue and silver stapler.",
+    "Apply pressure on the curved blue and silver stapler until it works.",
+    "Press down on the stapler the curved blue and silver stapler firmly.",
+    "Push the stapler the stapler with smooth blue finish to operate it.",
+    "Use one arm to press the blue stapler with ergonomic curve.",
+    "Push down on the plastic stapler with metal on base to staple",
+    "Push down forcefully on the stapler the plastic stapler with metal on base.",
+    "Lower the blue stapler with ergonomic curve using an arm",
+    "Use your the right arm to press the stapler the blue stapler with ergonomic curve.",
+    "Push down on the stapler the handheld blue and silver stapler.",
+    "Apply force to the handheld blue and silver stapler to staple.",
+    "Apply enough force to the blue stapler with ergonomic curve to press it.",
+    "Use one arm the right arm to press the blue plastic stapler with silver metal.",
+    "Push the stapler the curved blue and silver stapler with the right arm.",
+    "Push down hard on the handheld blue and silver stapler with the right arm.",
+    "Lower the right arm onto the stapler the compact stapler with smooth surface.",
+    "Firmly push the blue plastic stapler with silver metal using the right arm to operate it.",
+    "Apply pressure to the metallic stapler with blue cover with the right arm.",
+    "Press the blue stapler with shiny silver parts to staple the sheets together.",
+    "Operate the manual blue stapler by pressing it with the right arm.",
+    "Press on the blue stapler with shiny silver parts using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press the stapler the blue stapler for holding papers with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Press the stapler the blue stapler for holding papers with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Use the right arm to press the small hand-sized stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode155.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place pressure on the curved black stapler to staple.",
+    "Firmly push the black stapler with curved top using the right arm to operate it.",
+    "Use one arm the right arm to press the small black stapler with metal core.",
+    "Push the top of the compact black stapler down",
+    "Firmly press down on the stapler with silver inner plates to staple.",
+    "Apply pressure to the compact black stapler with the right arm.",
+    "Press the black stapler with rectangular base until it works",
+    "Operate the black smooth-textured stapler by pressing it with the right arm.",
+    "Push down hard on the black stapler with shiny interior with the right arm.",
+    "Push the stapler the stapler with silver inner plates to operate it.",
+    "Push down firmly on the compact black stapler to complete.",
+    "Press the stapler with silver inner plates firmly to staple",
+    "Push down on the black stapler with rectangular base firmly.",
+    "Apply force to the black stapler with shiny interior with the right arm",
+    "Apply pressure on the small black stapler with metal core until it works.",
+    "Lower the right arm onto the stapler the black stapler with curved top.",
+    "Apply pressure to the stapler with silver staple tray with the right arm.",
+    "Firmly press the black stapler with curved top using an arm.",
+    "Press down on the curved black stapler until it functions.",
+    "Push down on the black stapler for joining pages to staple papers.",
+    "Use your arm the right arm to push the compact black stapler down.",
+    "Press on the handheld black stapler to activate it.",
+    "Engage the black stapler with smooth finish by using the right arm to press it.",
+    "Press the black stapler with shiny interior downward using your arm the right arm.",
+    "Press down on the stapler the black stapler with curved top firmly.",
+    "Push the stapler the small black stapler with metal core to activate it.",
+    "Lower the black stapler with shiny interior using an arm",
+    "Press the stapler the black stapler with smooth finish using an arm the right arm.",
+    "Press the black stapler for joining pages to staple the sheets together.",
+    "Apply pressure to the black stapler with smooth finish using one arm the right arm.",
+    "Push the black stapler with rectangular base down completely",
+    "Use an arm to press the black stapler with rectangular base",
+    "Push down on the stapler the black stapler with rectangular base.",
+    "Apply pressure to the stapler with silver inner plates firmly",
+    "Simply press the stapler the curved black stapler downward.",
+    "Push down on the black stapler with smooth finish to staple",
+    "Push the stapler with silver staple tray using one arm",
+    "Use your the right arm to press the stapler the black stapler with rectangular base.",
+    "Use one arm to press the black stapler with shiny interior.",
+    "Apply enough force to the stapler with silver staple tray to press it.",
+    "Push the stapler the black stapler with rectangular base with the right arm.",
+    "Push down on the stapler the black stapler with curved top.",
+    "Firmly push down on the stapler with silver inner plates.",
+    "Push down forcefully on the stapler the handheld black stapler.",
+    "Push the curved black stapler until it staples.",
+    "Push the stapler with silver inner plates down firmly.",
+    "Apply force to the compact black stapler to staple.",
+    "Apply one arm the right arm to press the black stapler with smooth finish firmly.",
+    "Press the black stapler for joining pages to complete the task.",
+    "Press on the compact black stapler using the right arm.",
+    "Place pressure on the black stapler with rectangular base to staple.",
+    "Firmly push the compact black stapler using the right arm to operate it.",
+    "Use one arm the right arm to press the small black stapler with metal core.",
+    "Push the top of the stapler with silver staple tray down",
+    "Firmly press down on the compact black stapler to staple.",
+    "Apply pressure to the black stapler with shiny interior with the right arm.",
+    "Press the black stapler with curved top until it works",
+    "Operate the black stapler with shiny interior by pressing it with the right arm.",
+    "Push down hard on the black stapler with rectangular base with the right arm.",
+    "Push the stapler the stapler with silver inner plates to operate it.",
+    "Push down firmly on the handheld black stapler to complete.",
+    "Press the small black stapler with metal core firmly to staple",
+    "Push down on the black stapler with shiny interior firmly.",
+    "Apply force to the small black stapler with metal core with the right arm",
+    "Apply pressure on the stapler with silver inner plates until it works.",
+    "Lower the right arm onto the stapler the black stapler with smooth finish.",
+    "Apply pressure to the black stapler with curved top with the right arm.",
+    "Firmly press the stapler with silver staple tray using an arm.",
+    "Press down on the curved black stapler until it functions.",
+    "Push down on the small black stapler with metal core to staple papers.",
+    "Use your arm the right arm to push the compact black stapler down.",
+    "Press on the handheld black stapler to activate it.",
+    "Engage the black stapler with shiny interior by using the right arm to press it.",
+    "Press the black stapler with smooth finish downward using your arm the right arm.",
+    "Press down on the stapler the black stapler with smooth finish firmly.",
+    "Push the stapler the black stapler with shiny interior to activate it.",
+    "Lower the black stapler for joining pages using an arm",
+    "Press the stapler the black smooth-textured stapler using an arm the right arm.",
+    "Press the black stapler with rectangular base to staple the sheets together.",
+    "Apply pressure to the black stapler with rectangular base using one arm the right arm.",
+    "Push the black stapler with smooth finish down completely",
+    "Use an arm to press the black stapler with shiny interior",
+    "Push down on the stapler the black stapler with smooth finish.",
+    "Apply pressure to the black stapler with rectangular base firmly",
+    "Simply press the stapler the small black stapler with metal core downward.",
+    "Push down on the curved black stapler to staple",
+    "Push the black stapler with rectangular base using one arm",
+    "Use your the right arm to press the stapler the small black stapler with metal core.",
+    "Use one arm to press the handheld black stapler.",
+    "Apply enough force to the small black stapler with metal core to press it.",
+    "Push the stapler the stapler with silver staple tray with the right arm.",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Firmly push down on the black stapler with smooth finish.",
+    "Push down forcefully on the stapler the compact black stapler.",
+    "Push the black stapler for joining pages until it staples.",
+    "Push the black stapler for joining pages down firmly.",
+    "Apply force to the stapler with silver staple tray to staple.",
+    "Apply one arm the right arm to press the black stapler with smooth finish firmly.",
+    "Press the black stapler with rectangular base to complete the task.",
+    "Press on the black stapler with shiny interior using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the black stapler firmly using the right arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Push the black stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press the black stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the right arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press down on the black stapler with the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the black stapler with the right arm.",
+    "Push the black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press down on the black stapler with the right arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Use the right arm to press down on the palm-sized black stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode157.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the stapler the small lightweight blue stapler to operate it.",
+    "Push down forcefully on the stapler the stapler with white metallic components.",
+    "Press down on the stapler the blue stapler with curved design firmly.",
+    "Press the stapler the handheld stapler using an arm the left arm.",
+    "Push down on the handheld stapler to staple",
+    "Use your the left arm to press the stapler the blue stapler.",
+    "Firmly push down on the blue stapler with black handle area.",
+    "Push the stapler the metal and plastic stapler to activate it.",
+    "Firmly press the small stapler using an arm.",
+    "Apply pressure to the blue stapler using one arm the left arm.",
+    "Use your arm the left arm to push the small stapler down.",
+    "Place pressure on the blue stapler to staple.",
+    "Push the small stapler down firmly.",
+    "Apply pressure on the plastic blue stapler with metal parts until it works.",
+    "Apply pressure to the blue stapler with the left arm.",
+    "Push down on the stapler the stapler with white metallic components.",
+    "Use one arm the left arm to press the small stapler.",
+    "Push the small lightweight blue stapler down completely",
+    "Apply force to the compact blue stapler with the left arm",
+    "Lower the blue stapler with curved design using an arm",
+    "Push down on the handheld stapler to staple papers.",
+    "Push down firmly on the blue stapler with black handle area to complete.",
+    "Push the small lightweight blue stapler using one arm",
+    "Press down on the small lightweight blue stapler until it functions.",
+    "Push the stapler with black top section until it staples.",
+    "Simply press the stapler the blue stapler downward.",
+    "Use one arm to press the small stapler.",
+    "Press the blue stapler with curved design to staple the sheets together.",
+    "Press the handheld stapler downward using your arm the left arm.",
+    "Apply one arm the left arm to press the blue stapler with black handle area firmly.",
+    "Press on the small stapler using the left arm.",
+    "Press the stapler with white metallic components firmly to staple",
+    "Push down on the stapler for stapling paper firmly.",
+    "Press on the blue stapler to activate it.",
+    "Engage the blue stapler with curved design by using the left arm to press it.",
+    "Press the compact blue stapler to complete the task.",
+    "Operate the blue stapler with black handle area by pressing it with the left arm.",
+    "Push down hard on the blue stapler with curved design with the left arm.",
+    "Use an arm to press the stapler for stapling paper",
+    "Apply pressure to the plastic blue stapler with metal parts firmly",
+    "Lower the left arm onto the stapler the compact blue stapler.",
+    "Push the top of the blue stapler down",
+    "Apply force to the handheld stapler to staple.",
+    "Push the stapler the stapler with black top section with the left arm.",
+    "Firmly push the blue stapler using the left arm to operate it.",
+    "Push down on the stapler the blue stapler with curved design.",
+    "Firmly press down on the blue stapler with black handle area to staple.",
+    "Press the blue stapler with black handle area until it works",
+    "Apply enough force to the stapler with black top section to press it.",
+    "Apply pressure to the small stapler with the left arm.",
+    "Push the stapler the small stapler to operate it.",
+    "Push down forcefully on the stapler the plastic blue stapler with metal parts.",
+    "Press down on the stapler the small stapler firmly.",
+    "Press the stapler the plastic blue stapler with metal parts using an arm the left arm.",
+    "Push down on the stapler for stapling paper to staple",
+    "Use your the left arm to press the stapler the plastic blue stapler with metal parts.",
+    "Firmly push down on the blue stapler with black handle area.",
+    "Push the stapler the compact blue stapler to activate it.",
+    "Firmly press the handheld stapler using an arm.",
+    "Apply pressure to the stapler with black top section using one arm the left arm.",
+    "Use your arm the left arm to push the metal and plastic stapler down.",
+    "Place pressure on the metal and plastic stapler to staple.",
+    "Push the stapler with white metallic components down firmly.",
+    "Apply pressure on the stapler with white metallic components until it works.",
+    "Apply pressure to the stapler with black top section with the left arm.",
+    "Push down on the stapler the plastic blue stapler with metal parts.",
+    "Use one arm the left arm to press the blue stapler with curved design.",
+    "Push the metal and plastic stapler down completely",
+    "Apply force to the blue stapler with the left arm",
+    "Lower the stapler with white metallic components using an arm",
+    "Push down on the plastic blue stapler with metal parts to staple papers.",
+    "Push down firmly on the blue stapler with black handle area to complete.",
+    "Push the compact blue stapler using one arm",
+    "Press down on the plastic blue stapler with metal parts until it functions.",
+    "Push the compact blue stapler until it staples.",
+    "Simply press the stapler the stapler for stapling paper downward.",
+    "Use one arm to press the blue stapler with black handle area.",
+    "Press the blue stapler with black handle area to staple the sheets together.",
+    "Press the blue stapler with curved design downward using your arm the left arm.",
+    "Apply one arm the left arm to press the blue stapler with black handle area firmly.",
+    "Press on the blue stapler with curved design using the left arm.",
+    "Press the metal and plastic stapler firmly to staple",
+    "Push down on the plastic blue stapler with metal parts firmly.",
+    "Press on the stapler with black top section to activate it.",
+    "Engage the small stapler by using the left arm to press it.",
+    "Press the small lightweight blue stapler to complete the task.",
+    "Operate the handheld stapler by pressing it with the left arm.",
+    "Push down hard on the metal and plastic stapler with the left arm.",
+    "Use an arm to press the compact blue stapler",
+    "Apply pressure to the blue stapler firmly",
+    "Lower the left arm onto the stapler the stapler for stapling paper.",
+    "Push the top of the blue stapler with black handle area down",
+    "Apply force to the stapler with white metallic components to staple.",
+    "Push the stapler the plastic blue stapler with metal parts with the left arm.",
+    "Firmly push the stapler with white metallic components using the left arm to operate it.",
+    "Push down on the stapler the blue stapler.",
+    "Firmly press down on the stapler with white metallic components to staple.",
+    "Press the blue stapler with black handle area until it works",
+    "Apply enough force to the stapler with black top section to press it.",
+    "Apply pressure to the handheld stapler with the left arm."
+  ],
+  "unseen": [
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the left arm.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the plastic stapler",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue stapler with smooth finish.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the stapler with white loading section firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press down on the plastic stapler with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the stapler with white loading section",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Use the left arm to press the plastic stapler.",
+    "Press down on the plastic stapler with the left arm.",
+    "Press down on the stapler with white loading section with the left arm",
+    "Push the blue stapler with smooth finish down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the blue stapler with smooth finish firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the plastic stapler.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the stapler with white loading section down with one arm the left arm.",
+    "Press the stapler the stapler with white loading section with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the stapler with white loading section.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the stapler with white loading section.",
+    "Use the left arm to press the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the left arm.",
+    "Press down on the blue stapler with smooth finish with the left arm",
+    "Push the plastic stapler down with one arm the left arm.",
+    "Press the stapler the blue stapler with smooth finish with the arm the left arm.",
+    "Press down on the plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the plastic stapler.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the left arm to press on the blue stapler with smooth finish",
+    "Use the left arm to press the stapler the blue stapler with smooth finish.",
+    "Use the left arm to press the blue stapler with smooth finish."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode161.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the modern design stapler using one arm",
+    "Push down on the stapler with rounded edges to staple papers.",
+    "Press down on the stapler the modern design stapler firmly.",
+    "Use your arm the left arm to push the stapler for fastening papers down.",
+    "Engage the white body stapler with accents by using the left arm to press it.",
+    "Apply enough force to the stapler with rounded edges to press it.",
+    "Firmly press the smooth plastic stapler using an arm.",
+    "Press the white stapler with rounded design firmly to staple",
+    "Press on the stapler with rounded edges to activate it.",
+    "Operate the white body stapler with accents by pressing it with the left arm.",
+    "Push the stapler with rounded edges down completely",
+    "Firmly press down on the plastic and metal stapler to staple.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Apply force to the stapler for fastening papers with the left arm",
+    "Push the white body stapler with accents down firmly.",
+    "Push the stapler the modern design stapler with the left arm.",
+    "Press the white stapler with rounded design until it works",
+    "Use your the left arm to press the stapler the white stapler with rounded design.",
+    "Simply press the stapler the paper stapler with silver tray downward.",
+    "Apply force to the stapler with orange button to staple.",
+    "Use one arm to press the modern design stapler.",
+    "Push down hard on the smooth plastic stapler with the left arm.",
+    "Firmly push down on the stapler with rounded edges.",
+    "Push down on the paper stapler with silver tray to staple",
+    "Press the stapler the stapler with orange top lever using an arm the left arm.",
+    "Place pressure on the stapler for fastening papers to staple.",
+    "Apply one arm the left arm to press the stapler with rounded edges firmly.",
+    "Apply pressure to the paper stapler with silver tray with the left arm.",
+    "Push the stapler with rounded edges until it staples.",
+    "Use an arm to press the paper stapler with silver tray",
+    "Firmly push the smooth plastic stapler using the left arm to operate it.",
+    "Push down on the paper stapler with silver tray firmly.",
+    "Push down firmly on the plastic and metal stapler to complete.",
+    "Lower the left arm onto the stapler the handheld stapler.",
+    "Lower the paper stapler with silver tray using an arm",
+    "Push down forcefully on the stapler the paper stapler with silver tray.",
+    "Use one arm the left arm to press the handheld stapler.",
+    "Apply pressure to the paper stapler with silver tray using one arm the left arm.",
+    "Push the top of the smooth plastic stapler down",
+    "Push the stapler the white body stapler with accents to activate it.",
+    "Push down on the stapler the stapler with orange button.",
+    "Press on the smooth plastic stapler using the left arm.",
+    "Apply pressure to the small office stapler firmly",
+    "Press the white stapler with rounded design to staple the sheets together.",
+    "Apply pressure to the stapler with orange button with the left arm.",
+    "Push the stapler the paper stapler with silver tray to operate it.",
+    "Press the white stapler with rounded design to complete the task.",
+    "Apply pressure on the stapler with orange button until it works.",
+    "Press down on the modern design stapler until it functions.",
+    "Press the stapler with orange button downward using your arm the left arm.",
+    "Push the stapler with rounded edges using one arm",
+    "Push down on the small office stapler to staple papers.",
+    "Press down on the stapler the white body stapler with accents firmly.",
+    "Use your arm the left arm to push the stapler with orange button down.",
+    "Engage the white stapler with rounded design by using the left arm to press it.",
+    "Apply enough force to the stapler with orange top lever to press it.",
+    "Firmly press the stapler with rounded edges using an arm.",
+    "Press the modern design stapler firmly to staple",
+    "Press on the small office stapler to activate it.",
+    "Operate the small office stapler by pressing it with the left arm.",
+    "Push the modern design stapler down completely",
+    "Firmly press down on the stapler with orange button to staple.",
+    "Push down on the stapler the stapler with rounded edges.",
+    "Apply force to the stapler with rounded edges with the left arm",
+    "Push the stapler with orange button down firmly.",
+    "Push the stapler the smooth plastic stapler with the left arm.",
+    "Press the plastic and metal stapler until it works",
+    "Use your the left arm to press the stapler the modern design stapler.",
+    "Simply press the stapler the stapler with orange button downward.",
+    "Apply force to the stapler with rounded edges to staple.",
+    "Use one arm to press the handheld stapler.",
+    "Push down hard on the modern design stapler with the left arm.",
+    "Firmly push down on the white body stapler with accents.",
+    "Push down on the modern design stapler to staple",
+    "Press the stapler the white stapler with rounded design using an arm the left arm.",
+    "Place pressure on the handheld stapler to staple.",
+    "Apply one arm the left arm to press the white body stapler with accents firmly.",
+    "Apply pressure to the stapler with rounded edges with the left arm.",
+    "Push the stapler for fastening papers until it staples.",
+    "Use an arm to press the stapler with orange top lever",
+    "Firmly push the paper stapler with silver tray using the left arm to operate it.",
+    "Push down on the modern design stapler firmly.",
+    "Push down firmly on the modern design stapler to complete.",
+    "Lower the left arm onto the stapler the modern design stapler.",
+    "Lower the smooth plastic stapler using an arm",
+    "Push down forcefully on the stapler the stapler with orange top lever.",
+    "Use one arm the left arm to press the stapler with rounded edges.",
+    "Apply pressure to the stapler with rounded edges using one arm the left arm.",
+    "Push the top of the plastic and metal stapler down",
+    "Push the stapler the smooth plastic stapler to activate it.",
+    "Push down on the stapler the paper stapler with silver tray.",
+    "Press on the smooth plastic stapler using the left arm.",
+    "Apply pressure to the stapler with orange top lever firmly",
+    "Press the handheld stapler to staple the sheets together.",
+    "Apply pressure to the stapler with rounded edges with the left arm.",
+    "Push the stapler the paper stapler with silver tray to operate it.",
+    "Press the stapler with rounded edges to complete the task.",
+    "Apply pressure on the white body stapler with accents until it works.",
+    "Press down on the plastic and metal stapler until it functions.",
+    "Press the white stapler with rounded design downward using your arm the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with the left arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the white stapler with the left arm",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with the left arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the white stapler with the left arm",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the white stapler with the left arm",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the white stapler.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the white stapler firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the compact stapler.",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press down on the compact stapler with the left arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Push the compact stapler down with one arm the left arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the compact stapler",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Press down on the compact stapler with the left arm",
+    "Push the white stapler down with one arm the left arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the compact stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the stapler the desk stapler with red body with the right arm.",
+    "Push down on the red top black bottom stapler to staple",
+    "Apply pressure to the office stapler with plastic and metal parts with the right arm.",
+    "Press down on the red stapler with black base until it functions.",
+    "Use your arm the right arm to push the red stapler down.",
+    "Firmly push down on the red top black bottom stapler.",
+    "Use one arm the right arm to press the stapler with red top.",
+    "Press the stapler the stapler for fastening papers using an arm the right arm.",
+    "Push down on the stapler the compact office stapler.",
+    "Simply press the stapler the desk stapler with red body downward.",
+    "Push the stapler with metallic staple slot until it staples.",
+    "Use your the right arm to press the stapler the stapler with red top.",
+    "Push down on the stapler for fastening papers firmly.",
+    "Engage the red stapler by using the right arm to press it.",
+    "Press on the red stapler with black base using the right arm.",
+    "Press down on the stapler the stapler for fastening papers firmly.",
+    "Push down on the red top black bottom stapler to staple papers.",
+    "Press the stapler with metallic staple slot to staple the sheets together.",
+    "Press the manual stapler with black base to complete the task.",
+    "Lower the right arm onto the stapler the desk stapler with red body.",
+    "Apply pressure to the red stapler with black base firmly",
+    "Apply pressure on the stapler with metallic staple slot until it works.",
+    "Apply enough force to the stapler for fastening papers to press it.",
+    "Place pressure on the small handheld stapler to staple.",
+    "Push the top of the stapler for fastening papers down",
+    "Push down on the stapler the red stapler.",
+    "Apply pressure to the red stapler with black base using one arm the right arm.",
+    "Press the manual stapler with black base firmly to staple",
+    "Apply pressure to the stapler for fastening papers with the right arm.",
+    "Apply force to the red stapler with black base to staple.",
+    "Firmly push the small handheld stapler using the right arm to operate it.",
+    "Use an arm to press the red plastic stapler with smooth top",
+    "Push the compact office stapler down completely",
+    "Push down hard on the compact office stapler with the right arm.",
+    "Press on the red top black bottom stapler to activate it.",
+    "Operate the manual stapler with black base by pressing it with the right arm.",
+    "Apply one arm the right arm to press the red plastic stapler with smooth top firmly.",
+    "Press the red stapler until it works",
+    "Push the small handheld stapler down firmly.",
+    "Push down forcefully on the stapler the stapler with metallic staple slot.",
+    "Firmly press the red stapler using an arm.",
+    "Push the stapler for fastening papers using one arm",
+    "Push down firmly on the stapler for fastening papers to complete.",
+    "Push the stapler the red stapler to activate it.",
+    "Firmly press down on the red plastic stapler with smooth top to staple.",
+    "Lower the red stapler using an arm",
+    "Apply force to the manual stapler with black base with the right arm",
+    "Use one arm to press the stapler with red top.",
+    "Push the stapler the red plastic stapler with smooth top to operate it.",
+    "Press the stapler for fastening papers downward using your arm the right arm.",
+    "Push the stapler the red top black bottom stapler with the right arm.",
+    "Push down on the red stapler with black base to staple",
+    "Apply pressure to the stapler for fastening papers with the right arm.",
+    "Press down on the small handheld stapler until it functions.",
+    "Use your arm the right arm to push the stapler with metallic staple slot down.",
+    "Firmly push down on the red stapler.",
+    "Use one arm the right arm to press the compact office stapler.",
+    "Press the stapler the desk stapler with red body using an arm the right arm.",
+    "Push down on the stapler the desk stapler with red body.",
+    "Simply press the stapler the desk stapler with red body downward.",
+    "Push the red stapler until it staples.",
+    "Use your the right arm to press the stapler the desk stapler with red body.",
+    "Push down on the compact office stapler firmly.",
+    "Engage the red stapler with black base by using the right arm to press it.",
+    "Press on the compact office stapler using the right arm.",
+    "Press down on the stapler the office stapler with plastic and metal parts firmly.",
+    "Push down on the red plastic stapler with smooth top to staple papers.",
+    "Press the stapler with metallic staple slot to staple the sheets together.",
+    "Press the red top black bottom stapler to complete the task.",
+    "Lower the right arm onto the stapler the manual stapler with black base.",
+    "Apply pressure to the compact office stapler firmly",
+    "Apply pressure on the red plastic stapler with smooth top until it works.",
+    "Apply enough force to the red plastic stapler with smooth top to press it.",
+    "Place pressure on the red top black bottom stapler to staple.",
+    "Push the top of the red plastic stapler with smooth top down",
+    "Push down on the stapler the stapler with red top.",
+    "Apply pressure to the red stapler with black base using one arm the right arm.",
+    "Press the stapler for fastening papers firmly to staple",
+    "Apply pressure to the desk stapler with red body with the right arm.",
+    "Apply force to the office stapler with plastic and metal parts to staple.",
+    "Firmly push the red stapler using the right arm to operate it.",
+    "Use an arm to press the stapler with metallic staple slot",
+    "Push the stapler for fastening papers down completely",
+    "Push down hard on the stapler for fastening papers with the right arm.",
+    "Press on the manual stapler with black base to activate it.",
+    "Operate the stapler with metallic staple slot by pressing it with the right arm.",
+    "Apply one arm the right arm to press the manual stapler with black base firmly.",
+    "Press the stapler for fastening papers until it works",
+    "Push the red stapler down firmly.",
+    "Push down forcefully on the stapler the stapler with red top.",
+    "Firmly press the stapler with metallic staple slot using an arm.",
+    "Push the small handheld stapler using one arm",
+    "Push down firmly on the stapler with metallic staple slot to complete.",
+    "Push the stapler the red plastic stapler with smooth top to activate it.",
+    "Firmly press down on the manual stapler with black base to staple.",
+    "Lower the stapler for fastening papers using an arm",
+    "Apply force to the red top black bottom stapler with the right arm",
+    "Use one arm to press the stapler for fastening papers.",
+    "Push the stapler the red plastic stapler with smooth top to operate it.",
+    "Press the stapler with metallic staple slot downward using your arm the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press on the red plastic stapler",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the red plastic stapler",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Use the right arm to press the red plastic stapler.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode191.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simply press the stapler the black stapler with rectangular base downward.",
+    "Push the top of the black stapler with curved top down",
+    "Use one arm to press the black stapler with rectangular base.",
+    "Use one arm the right arm to press the curved black stapler.",
+    "Apply one arm the right arm to press the black stapler with rectangular base firmly.",
+    "Lower the black stapler with curved top using an arm",
+    "Push the stapler the small black stapler with metal core with the right arm.",
+    "Push the stapler the compact black stapler to operate it.",
+    "Firmly push down on the black smooth-textured stapler.",
+    "Apply pressure to the black stapler with shiny interior using one arm the right arm.",
+    "Push down on the stapler the curved black stapler.",
+    "Apply pressure to the black stapler for joining pages with the right arm.",
+    "Push down on the black stapler with curved top to staple",
+    "Apply enough force to the black smooth-textured stapler to press it.",
+    "Apply pressure to the black smooth-textured stapler firmly",
+    "Press the black stapler with rectangular base downward using your arm the right arm.",
+    "Push the stapler with silver inner plates down firmly.",
+    "Lower the right arm onto the stapler the stapler with silver staple tray.",
+    "Place pressure on the stapler with silver inner plates to staple.",
+    "Firmly push the compact black stapler using the right arm to operate it.",
+    "Press the handheld black stapler to staple the sheets together.",
+    "Push the small black stapler with metal core down completely",
+    "Push down on the stapler the handheld black stapler.",
+    "Use your the right arm to press the stapler the black stapler with rectangular base.",
+    "Engage the curved black stapler by using the right arm to press it.",
+    "Firmly press down on the black stapler with smooth finish to staple.",
+    "Use your arm the right arm to push the black smooth-textured stapler down.",
+    "Push down forcefully on the stapler the small black stapler with metal core.",
+    "Push down hard on the black stapler with curved top with the right arm.",
+    "Apply force to the stapler with silver inner plates with the right arm",
+    "Apply pressure on the black stapler with curved top until it works.",
+    "Operate the compact black stapler by pressing it with the right arm.",
+    "Push the stapler the black smooth-textured stapler to activate it.",
+    "Push down on the black stapler with shiny interior firmly.",
+    "Press down on the black smooth-textured stapler until it functions.",
+    "Press on the compact black stapler to activate it.",
+    "Firmly press the black stapler with smooth finish using an arm.",
+    "Use an arm to press the black stapler with shiny interior",
+    "Press the black stapler with rectangular base until it works",
+    "Push down on the black stapler with shiny interior to staple papers.",
+    "Press the black stapler with shiny interior to complete the task.",
+    "Push down firmly on the handheld black stapler to complete.",
+    "Apply force to the curved black stapler to staple.",
+    "Press the stapler with silver inner plates firmly to staple",
+    "Push the black stapler with shiny interior using one arm",
+    "Apply pressure to the stapler with silver inner plates with the right arm.",
+    "Push the black stapler with smooth finish until it staples.",
+    "Press down on the stapler the black stapler with shiny interior firmly.",
+    "Press on the stapler with silver inner plates using the right arm.",
+    "Press the stapler the black smooth-textured stapler using an arm the right arm.",
+    "Simply press the stapler the black stapler with shiny interior downward.",
+    "Push the top of the curved black stapler down",
+    "Use one arm to press the black stapler for joining pages.",
+    "Use one arm the right arm to press the black stapler for joining pages.",
+    "Apply one arm the right arm to press the black stapler with curved top firmly.",
+    "Lower the black stapler with rectangular base using an arm",
+    "Push the stapler the stapler with silver inner plates with the right arm.",
+    "Push the stapler the curved black stapler to operate it.",
+    "Firmly push down on the black stapler with smooth finish.",
+    "Apply pressure to the black stapler with rectangular base using one arm the right arm.",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Apply pressure to the handheld black stapler with the right arm.",
+    "Push down on the black stapler with curved top to staple",
+    "Apply enough force to the black stapler with smooth finish to press it.",
+    "Apply pressure to the stapler with silver inner plates firmly",
+    "Press the small black stapler with metal core downward using your arm the right arm.",
+    "Push the black stapler for joining pages down firmly.",
+    "Lower the right arm onto the stapler the black smooth-textured stapler.",
+    "Place pressure on the black stapler with rectangular base to staple.",
+    "Firmly push the stapler with silver staple tray using the right arm to operate it.",
+    "Press the black stapler with rectangular base to staple the sheets together.",
+    "Push the black stapler for joining pages down completely",
+    "Push down on the stapler the black stapler with rectangular base.",
+    "Use your the right arm to press the stapler the curved black stapler.",
+    "Engage the black smooth-textured stapler by using the right arm to press it.",
+    "Firmly press down on the stapler with silver inner plates to staple.",
+    "Use your arm the right arm to push the small black stapler with metal core down.",
+    "Push down forcefully on the stapler the stapler with silver staple tray.",
+    "Push down hard on the black smooth-textured stapler with the right arm.",
+    "Apply force to the curved black stapler with the right arm",
+    "Apply pressure on the black stapler with curved top until it works.",
+    "Operate the black stapler with rectangular base by pressing it with the right arm.",
+    "Push the stapler the stapler with silver staple tray to activate it.",
+    "Push down on the black stapler with curved top firmly.",
+    "Press down on the black stapler with curved top until it functions.",
+    "Press on the compact black stapler to activate it.",
+    "Firmly press the black stapler for joining pages using an arm.",
+    "Use an arm to press the stapler with silver staple tray",
+    "Press the small black stapler with metal core until it works",
+    "Push down on the black stapler with shiny interior to staple papers.",
+    "Press the black stapler for joining pages to complete the task.",
+    "Push down firmly on the black stapler with curved top to complete.",
+    "Apply force to the compact black stapler to staple.",
+    "Press the curved black stapler firmly to staple",
+    "Push the compact black stapler using one arm",
+    "Apply pressure to the black smooth-textured stapler with the right arm.",
+    "Push the black stapler with rectangular base until it staples.",
+    "Press down on the stapler the small black stapler with metal core firmly.",
+    "Press on the black stapler with shiny interior using the right arm.",
+    "Press the stapler the black stapler for joining pages using an arm the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press down on the black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press down on the black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the black stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press down on the black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Press down on the metal and plastic stapler with the right arm"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode235.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply force to the small red stapler to staple.",
+    "Push down on the compact stapler to staple papers.",
+    "Place pressure on the compact stapler to staple.",
+    "Apply pressure on the compact red stapler with silver accents until it works.",
+    "Firmly push the curved red stapler using the left arm to operate it.",
+    "Firmly push down on the lightweight red stapler.",
+    "Push down on the stapler in bright red color firmly.",
+    "Push down on the curved red stapler to staple",
+    "Press on the compact stapler using the left arm.",
+    "Firmly press down on the small red stapler to staple.",
+    "Press the compact stapler to staple the sheets together.",
+    "Press the handheld red stapler to complete the task.",
+    "Press the curved red stapler firmly to staple",
+    "Apply force to the stapler with rectangular silver mechanism with the left arm",
+    "Push the red stapler down completely",
+    "Operate the compact red stapler with silver accents by pressing it with the left arm.",
+    "Press the plastic stapler with metal top downward using your arm the left arm.",
+    "Use your arm the left arm to push the stapler in bright red color down.",
+    "Use an arm to press the red stapler",
+    "Firmly press the red stapler for binding papers using an arm.",
+    "Apply pressure to the plastic stapler with metal top using one arm the left arm.",
+    "Push down hard on the lightweight red stapler with the left arm.",
+    "Push the stapler the compact red stapler with silver accents with the left arm.",
+    "Apply pressure to the compact stapler with the left arm.",
+    "Push the stapler with rectangular silver mechanism down firmly.",
+    "Push down firmly on the stapler with rectangular silver mechanism to complete.",
+    "Apply pressure to the curved red stapler with the left arm.",
+    "Push the handheld red stapler using one arm",
+    "Push the curved red stapler until it staples.",
+    "Press on the stapler with rectangular silver mechanism to activate it.",
+    "Apply one arm the left arm to press the metallic stapler with red body firmly.",
+    "Use your the left arm to press the stapler the compact red stapler with silver accents.",
+    "Push down on the stapler the compact stapler.",
+    "Simply press the stapler the curved red stapler downward.",
+    "Use one arm the left arm to press the lightweight red stapler.",
+    "Push the stapler the small red stapler to operate it.",
+    "Press the stapler the red stapler using an arm the left arm.",
+    "Push the stapler the handheld red stapler to activate it.",
+    "Use one arm to press the stapler in bright red color.",
+    "Engage the stapler in bright red color by using the left arm to press it.",
+    "Press the curved red stapler until it works",
+    "Push down on the stapler the small red stapler.",
+    "Lower the left arm onto the stapler the red stapler for binding papers.",
+    "Apply pressure to the handheld red stapler firmly",
+    "Apply enough force to the metallic stapler with red body to press it.",
+    "Lower the stapler in bright red color using an arm",
+    "Push down forcefully on the stapler the plastic stapler with metal top.",
+    "Press down on the stapler the compact red stapler with silver accents firmly.",
+    "Push the top of the curved red stapler down",
+    "Press down on the compact red stapler with silver accents until it functions.",
+    "Apply force to the red stapler to staple.",
+    "Push down on the stapler in bright red color to staple papers.",
+    "Place pressure on the stapler with rectangular silver mechanism to staple.",
+    "Apply pressure on the compact red stapler with silver accents until it works.",
+    "Firmly push the curved red stapler using the left arm to operate it.",
+    "Firmly push down on the handheld red stapler.",
+    "Push down on the lightweight red stapler firmly.",
+    "Push down on the lightweight red stapler to staple",
+    "Press on the compact stapler using the left arm.",
+    "Firmly press down on the compact red stapler with silver accents to staple.",
+    "Press the plastic stapler with metal top to staple the sheets together.",
+    "Press the compact red stapler with silver accents to complete the task.",
+    "Press the plastic stapler with metal top firmly to staple",
+    "Apply force to the small red stapler with the left arm",
+    "Push the curved red stapler down completely",
+    "Operate the compact stapler by pressing it with the left arm.",
+    "Press the stapler with rectangular silver mechanism downward using your arm the left arm.",
+    "Use your arm the left arm to push the metallic stapler with red body down.",
+    "Use an arm to press the red stapler for binding papers",
+    "Firmly press the stapler in bright red color using an arm.",
+    "Apply pressure to the compact stapler using one arm the left arm.",
+    "Push down hard on the compact red stapler with silver accents with the left arm.",
+    "Push the stapler the red stapler with the left arm.",
+    "Apply pressure to the compact red stapler with silver accents with the left arm.",
+    "Push the stapler in bright red color down firmly.",
+    "Push down firmly on the red stapler to complete.",
+    "Apply pressure to the lightweight red stapler with the left arm.",
+    "Push the lightweight red stapler using one arm",
+    "Push the handheld red stapler until it staples.",
+    "Press on the metallic stapler with red body to activate it.",
+    "Apply one arm the left arm to press the red stapler for binding papers firmly.",
+    "Use your the left arm to press the stapler the plastic stapler with metal top.",
+    "Push down on the stapler the red stapler for binding papers.",
+    "Simply press the stapler the curved red stapler downward.",
+    "Use one arm the left arm to press the metallic stapler with red body.",
+    "Push the stapler the stapler in bright red color to operate it.",
+    "Press the stapler the curved red stapler using an arm the left arm.",
+    "Push the stapler the stapler in bright red color to activate it.",
+    "Use one arm to press the compact stapler.",
+    "Engage the stapler in bright red color by using the left arm to press it.",
+    "Press the red stapler for binding papers until it works",
+    "Push down on the stapler the metallic stapler with red body.",
+    "Lower the left arm onto the stapler the small red stapler.",
+    "Apply pressure to the stapler in bright red color firmly",
+    "Apply enough force to the small red stapler to press it.",
+    "Lower the red stapler for binding papers using an arm",
+    "Push down forcefully on the stapler the red stapler for binding papers.",
+    "Press down on the stapler the red stapler firmly.",
+    "Push the top of the compact red stapler with silver accents down",
+    "Press down on the small red stapler until it functions."
+  ],
+  "unseen": [
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press on the stapler with silver metal top"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode253.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the blue stapler with curved design using one arm",
+    "Apply pressure to the small lightweight blue stapler using one arm the right arm.",
+    "Firmly press the blue stapler with curved design using an arm.",
+    "Push the plastic blue stapler with metal parts down firmly.",
+    "Use one arm to press the blue stapler with black handle area.",
+    "Firmly press down on the stapler for stapling paper to staple.",
+    "Press the stapler the plastic blue stapler with metal parts using an arm the right arm.",
+    "Apply one arm the right arm to press the stapler with white metallic components firmly.",
+    "Press the blue stapler with curved design to complete the task.",
+    "Lower the handheld stapler using an arm",
+    "Engage the stapler with black top section by using the right arm to press it.",
+    "Push the stapler the small lightweight blue stapler to activate it.",
+    "Press down on the stapler the stapler with white metallic components firmly.",
+    "Push down on the blue stapler with curved design to staple",
+    "Press the compact blue stapler until it works",
+    "Use an arm to press the stapler with black top section",
+    "Simply press the stapler the blue stapler downward.",
+    "Firmly push down on the blue stapler with black handle area.",
+    "Push the plastic blue stapler with metal parts until it staples.",
+    "Apply force to the handheld stapler with the right arm",
+    "Push the stapler the handheld stapler to operate it.",
+    "Push down firmly on the small stapler to complete.",
+    "Press the compact blue stapler downward using your arm the right arm.",
+    "Push down on the compact blue stapler to staple papers.",
+    "Push the top of the handheld stapler down",
+    "Apply force to the blue stapler with curved design to staple.",
+    "Press down on the blue stapler with curved design until it functions.",
+    "Apply enough force to the metal and plastic stapler to press it.",
+    "Push down on the stapler the stapler with white metallic components.",
+    "Press on the blue stapler using the right arm.",
+    "Press on the blue stapler with curved design to activate it.",
+    "Use your arm the right arm to push the blue stapler with black handle area down.",
+    "Push down on the blue stapler with curved design firmly.",
+    "Apply pressure to the stapler for stapling paper firmly",
+    "Push down forcefully on the stapler the blue stapler with black handle area.",
+    "Press the blue stapler to staple the sheets together.",
+    "Push down hard on the blue stapler with curved design with the right arm.",
+    "Operate the small lightweight blue stapler by pressing it with the right arm.",
+    "Place pressure on the small stapler to staple.",
+    "Push the handheld stapler down completely",
+    "Apply pressure to the stapler for stapling paper with the right arm.",
+    "Push down on the stapler the plastic blue stapler with metal parts.",
+    "Push the stapler the stapler for stapling paper with the right arm.",
+    "Firmly push the metal and plastic stapler using the right arm to operate it.",
+    "Apply pressure on the blue stapler with black handle area until it works.",
+    "Use one arm the right arm to press the blue stapler with black handle area.",
+    "Use your the right arm to press the stapler the small stapler.",
+    "Apply pressure to the metal and plastic stapler with the right arm.",
+    "Lower the right arm onto the stapler the small lightweight blue stapler.",
+    "Press the plastic blue stapler with metal parts firmly to staple",
+    "Push the small stapler using one arm",
+    "Apply pressure to the stapler for stapling paper using one arm the right arm.",
+    "Firmly press the blue stapler with black handle area using an arm.",
+    "Push the small lightweight blue stapler down firmly.",
+    "Use one arm to press the blue stapler with curved design.",
+    "Firmly press down on the stapler with white metallic components to staple.",
+    "Press the stapler the stapler with white metallic components using an arm the right arm.",
+    "Apply one arm the right arm to press the small stapler firmly.",
+    "Press the metal and plastic stapler to complete the task.",
+    "Lower the small lightweight blue stapler using an arm",
+    "Engage the compact blue stapler by using the right arm to press it.",
+    "Push the stapler the blue stapler to activate it.",
+    "Press down on the stapler the small stapler firmly.",
+    "Push down on the plastic blue stapler with metal parts to staple",
+    "Press the small stapler until it works",
+    "Use an arm to press the blue stapler with black handle area",
+    "Simply press the stapler the blue stapler downward.",
+    "Firmly push down on the stapler with white metallic components.",
+    "Push the stapler with white metallic components until it staples.",
+    "Apply force to the stapler with black top section with the right arm",
+    "Push the stapler the stapler with black top section to operate it.",
+    "Push down firmly on the small lightweight blue stapler to complete.",
+    "Press the handheld stapler downward using your arm the right arm.",
+    "Push down on the compact blue stapler to staple papers.",
+    "Push the top of the stapler with white metallic components down",
+    "Apply force to the stapler with white metallic components to staple.",
+    "Press down on the plastic blue stapler with metal parts until it functions.",
+    "Apply enough force to the small lightweight blue stapler to press it.",
+    "Push down on the stapler the metal and plastic stapler.",
+    "Press on the metal and plastic stapler using the right arm.",
+    "Press on the stapler for stapling paper to activate it.",
+    "Use your arm the right arm to push the small stapler down.",
+    "Push down on the small stapler firmly.",
+    "Apply pressure to the stapler for stapling paper firmly",
+    "Push down forcefully on the stapler the small lightweight blue stapler.",
+    "Press the handheld stapler to staple the sheets together.",
+    "Push down hard on the blue stapler with curved design with the right arm.",
+    "Operate the blue stapler by pressing it with the right arm.",
+    "Place pressure on the small lightweight blue stapler to staple.",
+    "Push the metal and plastic stapler down completely",
+    "Apply pressure to the small stapler with the right arm.",
+    "Push down on the stapler the blue stapler with curved design.",
+    "Push the stapler the metal and plastic stapler with the right arm.",
+    "Firmly push the blue stapler with black handle area using the right arm to operate it.",
+    "Apply pressure on the compact blue stapler until it works.",
+    "Use one arm the right arm to press the stapler with black top section.",
+    "Use your the right arm to press the stapler the blue stapler.",
+    "Apply pressure to the stapler for stapling paper with the right arm.",
+    "Lower the right arm onto the stapler the compact blue stapler.",
+    "Press the stapler with white metallic components firmly to staple"
+  ],
+  "unseen": [
+    "Press down on the plastic stapler with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press on the plastic stapler",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm.",
+    "Press down on the plastic stapler with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Use the right arm to press the plastic stapler.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press on the plastic stapler",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Use the right arm to press the plastic stapler.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Press down on the plastic stapler with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press on the plastic stapler",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press on the plastic stapler",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Use the right arm to press the plastic stapler.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press on the plastic stapler",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Use the right arm to press the plastic stapler.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Press down on the stapler with white loading section with the right arm",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Press down on the plastic stapler with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm.",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Use the right arm to press the plastic stapler.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Press down on the plastic stapler with the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode256.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down on the stapler the black stapler with curved top.",
+    "Press down on the black stapler with rectangular base until it functions.",
+    "Push the stapler the stapler with silver inner plates to operate it.",
+    "Engage the black stapler with curved top by using the right arm to press it.",
+    "Apply force to the black stapler with rectangular base to staple.",
+    "Push the stapler the small black stapler with metal core to activate it.",
+    "Apply pressure to the black stapler with smooth finish with the right arm.",
+    "Press the curved black stapler until it works",
+    "Use your arm the right arm to push the compact black stapler down.",
+    "Firmly push down on the black stapler for joining pages.",
+    "Push down on the black stapler for joining pages to staple",
+    "Press down on the stapler the black stapler with curved top firmly.",
+    "Apply pressure on the black stapler with rectangular base until it works.",
+    "Operate the black stapler for joining pages by pressing it with the right arm.",
+    "Press the black smooth-textured stapler to complete the task.",
+    "Apply one arm the right arm to press the small black stapler with metal core firmly.",
+    "Push down on the black smooth-textured stapler to staple papers.",
+    "Push the top of the small black stapler with metal core down",
+    "Lower the compact black stapler using an arm",
+    "Press the compact black stapler firmly to staple",
+    "Press on the compact black stapler to activate it.",
+    "Place pressure on the black stapler with shiny interior to staple.",
+    "Apply pressure to the stapler with silver staple tray using one arm the right arm.",
+    "Apply pressure to the black stapler with curved top firmly",
+    "Firmly press down on the stapler with silver staple tray to staple.",
+    "Use one arm the right arm to press the stapler with silver inner plates.",
+    "Press the stapler the handheld black stapler using an arm the right arm.",
+    "Push down forcefully on the stapler the black smooth-textured stapler.",
+    "Apply enough force to the black stapler for joining pages to press it.",
+    "Apply pressure to the compact black stapler with the right arm.",
+    "Push the black stapler with rectangular base down completely",
+    "Use one arm to press the black stapler with curved top.",
+    "Press on the black stapler with rectangular base using the right arm.",
+    "Push the black stapler with curved top down firmly.",
+    "Push down on the compact black stapler firmly.",
+    "Press the black stapler with smooth finish to staple the sheets together.",
+    "Simply press the stapler the stapler with silver inner plates downward.",
+    "Firmly push the black stapler for joining pages using the right arm to operate it.",
+    "Push the black stapler with rectangular base until it staples.",
+    "Use your the right arm to press the stapler the black smooth-textured stapler.",
+    "Lower the right arm onto the stapler the small black stapler with metal core.",
+    "Push down on the stapler the black stapler with rectangular base.",
+    "Firmly press the stapler with silver inner plates using an arm.",
+    "Apply force to the black stapler with smooth finish with the right arm",
+    "Push the stapler the curved black stapler with the right arm.",
+    "Use an arm to press the black stapler with rectangular base",
+    "Push down hard on the curved black stapler with the right arm.",
+    "Push down firmly on the handheld black stapler to complete.",
+    "Press the small black stapler with metal core downward using your arm the right arm.",
+    "Push the compact black stapler using one arm",
+    "Push down on the stapler the black stapler with smooth finish.",
+    "Press down on the black stapler with smooth finish until it functions.",
+    "Push the stapler the small black stapler with metal core to operate it.",
+    "Engage the stapler with silver inner plates by using the right arm to press it.",
+    "Apply force to the black stapler with smooth finish to staple.",
+    "Push the stapler the curved black stapler to activate it.",
+    "Apply pressure to the stapler with silver staple tray with the right arm.",
+    "Press the black smooth-textured stapler until it works",
+    "Use your arm the right arm to push the black stapler for joining pages down.",
+    "Firmly push down on the small black stapler with metal core.",
+    "Push down on the handheld black stapler to staple",
+    "Press down on the stapler the compact black stapler firmly.",
+    "Apply pressure on the stapler with silver inner plates until it works.",
+    "Operate the small black stapler with metal core by pressing it with the right arm.",
+    "Press the black stapler with rectangular base to complete the task.",
+    "Apply one arm the right arm to press the black stapler with smooth finish firmly.",
+    "Push down on the stapler with silver inner plates to staple papers.",
+    "Push the top of the stapler with silver staple tray down",
+    "Lower the small black stapler with metal core using an arm",
+    "Press the black stapler for joining pages firmly to staple",
+    "Press on the compact black stapler to activate it.",
+    "Place pressure on the stapler with silver inner plates to staple.",
+    "Apply pressure to the black stapler with curved top using one arm the right arm.",
+    "Apply pressure to the black stapler for joining pages firmly",
+    "Firmly press down on the black stapler with curved top to staple.",
+    "Use one arm the right arm to press the black stapler with rectangular base.",
+    "Press the stapler the black smooth-textured stapler using an arm the right arm.",
+    "Push down forcefully on the stapler the stapler with silver staple tray.",
+    "Apply enough force to the black stapler with curved top to press it.",
+    "Apply pressure to the black stapler with smooth finish with the right arm.",
+    "Push the black smooth-textured stapler down completely",
+    "Use one arm to press the small black stapler with metal core.",
+    "Press on the black stapler with curved top using the right arm.",
+    "Push the stapler with silver inner plates down firmly.",
+    "Push down on the black smooth-textured stapler firmly.",
+    "Press the handheld black stapler to staple the sheets together.",
+    "Simply press the stapler the small black stapler with metal core downward.",
+    "Firmly push the handheld black stapler using the right arm to operate it.",
+    "Push the stapler with silver inner plates until it staples.",
+    "Use your the right arm to press the stapler the black stapler for joining pages.",
+    "Lower the right arm onto the stapler the curved black stapler.",
+    "Push down on the stapler the black smooth-textured stapler.",
+    "Firmly press the black stapler with smooth finish using an arm.",
+    "Apply force to the black smooth-textured stapler with the right arm",
+    "Push the stapler the black stapler with shiny interior with the right arm.",
+    "Use an arm to press the stapler with silver inner plates",
+    "Push down hard on the black stapler with smooth finish with the right arm.",
+    "Push down firmly on the black stapler with rectangular base to complete.",
+    "Press the curved black stapler downward using your arm the right arm.",
+    "Push the stapler with silver staple tray using one arm"
+  ],
+  "unseen": [
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the palm-sized black stapler",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Press down on the metal and plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the metal and plastic stapler.",
+    "Use the right arm to press the palm-sized black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Push the black stapler down with one arm the right arm.",
+    "Press down on the black stapler with the right arm",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the metal and plastic stapler",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the stapler the black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Press the stapler the black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Press down on the black stapler firmly using the right arm.",
+    "Use the right arm to press down on the palm-sized black stapler.",
+    "Use the right arm to press the black stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the metal and plastic stapler down with one arm the right arm.",
+    "Press down on the metal and plastic stapler with the right arm",
+    "Use the right arm to press the stapler the palm-sized black stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the metal and plastic stapler with the arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Use the right arm to press down on the black stapler.",
+    "Use the right arm to press the metal and plastic stapler.",
+    "Use the right arm to press on the black stapler",
+    "Push the palm-sized black stapler down with one arm the right arm.",
+    "Press down on the palm-sized black stapler with the right arm",
+    "Use the right arm to press the stapler the metal and plastic stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Press the stapler the palm-sized black stapler with the arm the right arm.",
+    "Press down on the black stapler with the right arm.",
+    "Press down on the palm-sized black stapler firmly using the right arm.",
+    "Use the right arm to press down on the metal and plastic stapler."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode289.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the black smooth-textured stapler using one arm",
+    "Push down on the black smooth-textured stapler to staple papers.",
+    "Simply press the stapler the small black stapler with metal core downward.",
+    "Use one arm to press the compact black stapler.",
+    "Use an arm to press the black stapler with smooth finish",
+    "Firmly press the stapler with silver inner plates using an arm.",
+    "Apply force to the curved black stapler with the left arm",
+    "Press the stapler the black stapler for joining pages using an arm the left arm.",
+    "Firmly push down on the curved black stapler.",
+    "Press the black stapler with rectangular base firmly to staple",
+    "Apply force to the black stapler with shiny interior to staple.",
+    "Lower the left arm onto the stapler the curved black stapler.",
+    "Apply pressure on the black stapler with shiny interior until it works.",
+    "Apply enough force to the black stapler with shiny interior to press it.",
+    "Push the black stapler with smooth finish down firmly.",
+    "Push down on the curved black stapler to staple",
+    "Push down hard on the stapler with silver inner plates with the left arm.",
+    "Press down on the stapler the black smooth-textured stapler firmly.",
+    "Operate the black stapler with smooth finish by pressing it with the left arm.",
+    "Press the black stapler with rectangular base downward using your arm the left arm.",
+    "Push the stapler the black stapler for joining pages with the left arm.",
+    "Push the black stapler with smooth finish down completely",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Apply one arm the left arm to press the black stapler with smooth finish firmly.",
+    "Push down on the stapler the stapler with silver staple tray.",
+    "Push the stapler the black stapler with shiny interior to operate it.",
+    "Firmly press down on the black stapler with shiny interior to staple.",
+    "Use your the left arm to press the stapler the black stapler with shiny interior.",
+    "Apply pressure to the black stapler for joining pages using one arm the left arm.",
+    "Lower the black stapler with rectangular base using an arm",
+    "Press the small black stapler with metal core to complete the task.",
+    "Use your arm the left arm to push the black stapler with smooth finish down.",
+    "Push down forcefully on the stapler the compact black stapler.",
+    "Press on the compact black stapler using the left arm.",
+    "Apply pressure to the stapler with silver staple tray with the left arm.",
+    "Press down on the stapler with silver inner plates until it functions.",
+    "Push down firmly on the stapler with silver inner plates to complete.",
+    "Firmly push the black stapler with smooth finish using the left arm to operate it.",
+    "Apply pressure to the black stapler with smooth finish firmly",
+    "Press the stapler with silver inner plates until it works",
+    "Apply pressure to the handheld black stapler with the left arm.",
+    "Push down on the black stapler with curved top firmly.",
+    "Push the top of the black stapler with rectangular base down",
+    "Press on the black stapler with curved top to activate it.",
+    "Use one arm the left arm to press the black smooth-textured stapler.",
+    "Press the stapler with silver staple tray to staple the sheets together.",
+    "Place pressure on the stapler with silver inner plates to staple.",
+    "Push the stapler the compact black stapler to activate it.",
+    "Push the curved black stapler until it staples.",
+    "Engage the black stapler with shiny interior by using the left arm to press it.",
+    "Push the stapler with silver inner plates using one arm",
+    "Push down on the black stapler with smooth finish to staple papers.",
+    "Simply press the stapler the black stapler with shiny interior downward.",
+    "Use one arm to press the black stapler with curved top.",
+    "Use an arm to press the compact black stapler",
+    "Firmly press the black stapler with smooth finish using an arm.",
+    "Apply force to the curved black stapler with the left arm",
+    "Press the stapler the black stapler with rectangular base using an arm the left arm.",
+    "Firmly push down on the compact black stapler.",
+    "Press the black stapler with rectangular base firmly to staple",
+    "Apply force to the stapler with silver staple tray to staple.",
+    "Lower the left arm onto the stapler the black stapler for joining pages.",
+    "Apply pressure on the black stapler with smooth finish until it works.",
+    "Apply enough force to the black stapler for joining pages to press it.",
+    "Push the black stapler with rectangular base down firmly.",
+    "Push down on the black stapler with smooth finish to staple",
+    "Push down hard on the black stapler with shiny interior with the left arm.",
+    "Press down on the stapler the black smooth-textured stapler firmly.",
+    "Operate the black smooth-textured stapler by pressing it with the left arm.",
+    "Press the curved black stapler downward using your arm the left arm.",
+    "Push the stapler the black stapler with curved top with the left arm.",
+    "Push the black smooth-textured stapler down completely",
+    "Push down on the stapler the handheld black stapler.",
+    "Apply one arm the left arm to press the black stapler with curved top firmly.",
+    "Push down on the stapler the black smooth-textured stapler.",
+    "Push the stapler the black stapler with smooth finish to operate it.",
+    "Firmly press down on the small black stapler with metal core to staple.",
+    "Use your the left arm to press the stapler the black stapler with smooth finish.",
+    "Apply pressure to the handheld black stapler using one arm the left arm.",
+    "Lower the black stapler with smooth finish using an arm",
+    "Press the black stapler with rectangular base to complete the task.",
+    "Use your arm the left arm to push the handheld black stapler down.",
+    "Push down forcefully on the stapler the stapler with silver inner plates.",
+    "Press on the black stapler for joining pages using the left arm.",
+    "Apply pressure to the handheld black stapler with the left arm.",
+    "Press down on the compact black stapler until it functions.",
+    "Push down firmly on the black stapler with rectangular base to complete.",
+    "Firmly push the curved black stapler using the left arm to operate it.",
+    "Apply pressure to the black stapler with rectangular base firmly",
+    "Press the black stapler with curved top until it works",
+    "Apply pressure to the stapler with silver staple tray with the left arm.",
+    "Push down on the small black stapler with metal core firmly.",
+    "Push the top of the black smooth-textured stapler down",
+    "Press on the curved black stapler to activate it.",
+    "Use one arm the left arm to press the stapler with silver staple tray.",
+    "Press the black stapler for joining pages to staple the sheets together.",
+    "Place pressure on the small black stapler with metal core to staple.",
+    "Push the stapler the compact black stapler to activate it.",
+    "Push the small black stapler with metal core until it staples.",
+    "Engage the black stapler for joining pages by using the left arm to press it."
+  ],
+  "unseen": [
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press the metal and plastic stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press down on the black stapler with the left arm.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press down on the black stapler with the left arm.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the black stapler",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press on the black stapler",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the palm-sized black stapler.",
+    "Press the palm-sized black stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Use the left arm to press the black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the palm-sized black stapler",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press down on the palm-sized black stapler with the left arm.",
+    "Press the stapler the palm-sized black stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the black stapler down with one arm the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the palm-sized black stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the metal and plastic stapler.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Press the stapler the black stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the palm-sized black stapler down with one arm the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the metal and plastic stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the black stapler.",
+    "Press down on the metal and plastic stapler with the left arm.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the black stapler firmly using the left arm.",
+    "Use the left arm to press down on the metal and plastic stapler.",
+    "Press the black stapler firmly using your arm.",
+    "Push the metal and plastic stapler down with one arm the left arm.",
+    "Use the left arm to press the palm-sized black stapler.",
+    "Press down on the black stapler with the left arm",
+    "Use the left arm to press on the metal and plastic stapler",
+    "Use the left arm to press the stapler the palm-sized black stapler.",
+    "Press down on the black stapler with the left arm.",
+    "Press the stapler the metal and plastic stapler with the arm the left arm.",
+    "Press down on the metal and plastic stapler firmly using the left arm.",
+    "Use the left arm to press down on the black stapler.",
+    "Press the black stapler firmly using your arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode307.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to press the lightweight red stapler.",
+    "Press the red stapler downward using your arm the left arm.",
+    "Apply pressure on the plastic stapler with metal top until it works.",
+    "Use one arm the left arm to press the handheld red stapler.",
+    "Push down forcefully on the stapler the red stapler.",
+    "Push the plastic stapler with metal top down completely",
+    "Push down firmly on the small red stapler to complete.",
+    "Apply one arm the left arm to press the curved red stapler firmly.",
+    "Apply pressure to the small red stapler with the left arm.",
+    "Push the stapler with rectangular silver mechanism until it staples.",
+    "Apply pressure to the stapler with rectangular silver mechanism with the left arm.",
+    "Apply pressure to the stapler with rectangular silver mechanism firmly",
+    "Press the stapler the plastic stapler with metal top using an arm the left arm.",
+    "Push the handheld red stapler down firmly.",
+    "Firmly press the red stapler using an arm.",
+    "Press the compact red stapler with silver accents to staple the sheets together.",
+    "Push the stapler the red stapler to operate it.",
+    "Apply enough force to the red stapler for binding papers to press it.",
+    "Press on the stapler with rectangular silver mechanism to activate it.",
+    "Operate the compact red stapler with silver accents by pressing it with the left arm.",
+    "Press the plastic stapler with metal top until it works",
+    "Push the red stapler for binding papers using one arm",
+    "Apply force to the red stapler to staple.",
+    "Press down on the stapler the compact stapler firmly.",
+    "Apply force to the stapler with rectangular silver mechanism with the left arm",
+    "Push down hard on the curved red stapler with the left arm.",
+    "Simply press the stapler the small red stapler downward.",
+    "Use an arm to press the small red stapler",
+    "Press the stapler with rectangular silver mechanism to complete the task.",
+    "Firmly push down on the handheld red stapler.",
+    "Firmly press down on the plastic stapler with metal top to staple.",
+    "Push down on the metallic stapler with red body to staple papers.",
+    "Press on the stapler in bright red color using the left arm.",
+    "Press down on the stapler in bright red color until it functions.",
+    "Use your the left arm to press the stapler the handheld red stapler.",
+    "Apply pressure to the red stapler using one arm the left arm.",
+    "Lower the stapler in bright red color using an arm",
+    "Push down on the stapler in bright red color to staple",
+    "Place pressure on the red stapler for binding papers to staple.",
+    "Push down on the stapler the red stapler.",
+    "Press the stapler in bright red color firmly to staple",
+    "Push the top of the stapler in bright red color down",
+    "Engage the stapler in bright red color by using the left arm to press it.",
+    "Push the stapler the compact red stapler with silver accents with the left arm.",
+    "Lower the left arm onto the stapler the red stapler for binding papers.",
+    "Push down on the stapler the lightweight red stapler.",
+    "Push down on the lightweight red stapler firmly.",
+    "Use your arm the left arm to push the curved red stapler down.",
+    "Firmly push the stapler with rectangular silver mechanism using the left arm to operate it.",
+    "Push the stapler the stapler with rectangular silver mechanism to activate it.",
+    "Use one arm to press the curved red stapler.",
+    "Press the stapler in bright red color downward using your arm the left arm.",
+    "Apply pressure on the curved red stapler until it works.",
+    "Use one arm the left arm to press the handheld red stapler.",
+    "Push down forcefully on the stapler the metallic stapler with red body.",
+    "Push the stapler in bright red color down completely",
+    "Push down firmly on the plastic stapler with metal top to complete.",
+    "Apply one arm the left arm to press the red stapler for binding papers firmly.",
+    "Apply pressure to the red stapler for binding papers with the left arm.",
+    "Push the stapler with rectangular silver mechanism until it staples.",
+    "Apply pressure to the curved red stapler with the left arm.",
+    "Apply pressure to the plastic stapler with metal top firmly",
+    "Press the stapler the small red stapler using an arm the left arm.",
+    "Push the compact red stapler with silver accents down firmly.",
+    "Firmly press the curved red stapler using an arm.",
+    "Press the red stapler for binding papers to staple the sheets together.",
+    "Push the stapler the compact red stapler with silver accents to operate it.",
+    "Apply enough force to the handheld red stapler to press it.",
+    "Press on the plastic stapler with metal top to activate it.",
+    "Operate the stapler in bright red color by pressing it with the left arm.",
+    "Press the compact stapler until it works",
+    "Push the red stapler using one arm",
+    "Apply force to the plastic stapler with metal top to staple.",
+    "Press down on the stapler the compact stapler firmly.",
+    "Apply force to the plastic stapler with metal top with the left arm",
+    "Push down hard on the metallic stapler with red body with the left arm.",
+    "Simply press the stapler the stapler with rectangular silver mechanism downward.",
+    "Use an arm to press the small red stapler",
+    "Press the metallic stapler with red body to complete the task.",
+    "Firmly push down on the curved red stapler.",
+    "Firmly press down on the metallic stapler with red body to staple.",
+    "Push down on the curved red stapler to staple papers.",
+    "Press on the handheld red stapler using the left arm.",
+    "Press down on the lightweight red stapler until it functions.",
+    "Use your the left arm to press the stapler the compact stapler.",
+    "Apply pressure to the red stapler using one arm the left arm.",
+    "Lower the stapler with rectangular silver mechanism using an arm",
+    "Push down on the curved red stapler to staple",
+    "Place pressure on the red stapler for binding papers to staple.",
+    "Push down on the stapler the compact red stapler with silver accents.",
+    "Press the compact red stapler with silver accents firmly to staple",
+    "Push the top of the red stapler down",
+    "Engage the stapler in bright red color by using the left arm to press it.",
+    "Push the stapler the metallic stapler with red body with the left arm.",
+    "Lower the left arm onto the stapler the compact red stapler with silver accents.",
+    "Push down on the stapler the compact stapler.",
+    "Push down on the stapler in bright red color firmly.",
+    "Use your arm the left arm to push the metallic stapler with red body down.",
+    "Firmly push the metallic stapler with red body using the left arm to operate it.",
+    "Push the stapler the metallic stapler with red body to activate it."
+  ],
+  "unseen": [
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the stapler with smooth plastic body firmly using the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press down on the stapler with smooth plastic body.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Use the left arm to press on the shiny red plastic stapler",
+    "Press down on the stapler with silver metal top firmly using the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with smooth plastic body.",
+    "Use the left arm to press the shiny red plastic stapler.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the stapler with silver metal top with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Push the stapler with silver metal top down with one arm the left arm.",
+    "Press the stapler the shiny red plastic stapler with the arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with silver metal top.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with silver metal top with the arm the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm",
+    "Use the left arm to press down on the shiny red plastic stapler.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with silver metal top firmly using your arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with silver metal top.",
+    "Use the left arm to press on the stapler with smooth plastic body",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the shiny red plastic stapler down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with smooth plastic body with the left arm.",
+    "Press the stapler with smooth plastic body firmly using your arm.",
+    "Use the left arm to press the stapler the shiny red plastic stapler.",
+    "Use the left arm to press the stapler with smooth plastic body.",
+    "Use the left arm to press on the stapler with silver metal top",
+    "Press down on the shiny red plastic stapler firmly using the left arm.",
+    "Press down on the shiny red plastic stapler with the left arm",
+    "Use the left arm to press down on the stapler with silver metal top.",
+    "Push the stapler with smooth plastic body down with one arm the left arm.",
+    "Press the stapler the stapler with smooth plastic body with the arm the left arm.",
+    "Press down on the stapler with silver metal top with the left arm.",
+    "Press the shiny red plastic stapler firmly using your arm.",
+    "Use the left arm to press the stapler the stapler with silver metal top."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode321.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press on the curved blue and silver stapler using the right arm.",
+    "Use one arm to press the compact stapler with smooth surface.",
+    "Firmly push the metallic stapler with blue cover using the right arm to operate it.",
+    "Use your the right arm to press the stapler the compact stapler with smooth surface.",
+    "Apply pressure to the blue stapler firmly",
+    "Push the metallic stapler with blue cover using one arm",
+    "Push down on the stapler the blue plastic stapler with silver metal.",
+    "Simply press the stapler the blue stapler downward.",
+    "Push the compact stapler with smooth surface until it staples.",
+    "Firmly push down on the curved blue and silver stapler.",
+    "Apply enough force to the plastic stapler with metal on base to press it.",
+    "Press the stapler the compact stapler with smooth surface using an arm the right arm.",
+    "Apply pressure to the manual blue stapler with the right arm.",
+    "Push down on the blue stapler with ergonomic curve firmly.",
+    "Apply force to the blue plastic stapler with silver metal to staple.",
+    "Push down firmly on the plastic stapler with metal on base to complete.",
+    "Push down on the blue stapler to staple",
+    "Push the stapler the blue stapler to operate it.",
+    "Lower the plastic stapler with metal on base using an arm",
+    "Press the metallic stapler with blue cover firmly to staple",
+    "Apply pressure on the handheld blue and silver stapler until it works.",
+    "Push the top of the handheld blue and silver stapler down",
+    "Push the handheld blue and silver stapler down completely",
+    "Use an arm to press the stapler with curved blue top",
+    "Firmly press down on the blue stapler to staple.",
+    "Press the manual blue stapler to staple the sheets together.",
+    "Press the manual blue stapler to complete the task.",
+    "Push down on the stapler with curved blue top to staple papers.",
+    "Press down on the stapler the stapler with smooth blue finish firmly.",
+    "Engage the handheld blue and silver stapler by using the right arm to press it.",
+    "Press on the stapler with smooth blue finish to activate it.",
+    "Lower the right arm onto the stapler the manual blue stapler.",
+    "Press the blue stapler with shiny silver parts downward using your arm the right arm.",
+    "Push the blue stapler down firmly.",
+    "Use one arm the right arm to press the stapler with curved blue top.",
+    "Push the stapler the plastic stapler with metal on base with the right arm.",
+    "Apply pressure to the stapler with curved blue top using one arm the right arm.",
+    "Press the blue stapler with shiny silver parts until it works",
+    "Push down on the stapler the stapler with curved blue top.",
+    "Press down on the metallic stapler with blue cover until it functions.",
+    "Use your arm the right arm to push the stapler with curved blue top down.",
+    "Apply force to the handheld blue and silver stapler with the right arm",
+    "Apply pressure to the metallic stapler with blue cover with the right arm.",
+    "Push the stapler the blue stapler with ergonomic curve to activate it.",
+    "Place pressure on the blue stapler with shiny silver parts to staple.",
+    "Push down forcefully on the stapler the blue stapler with ergonomic curve.",
+    "Apply one arm the right arm to press the blue stapler with ergonomic curve firmly.",
+    "Push down hard on the handheld blue and silver stapler with the right arm.",
+    "Firmly press the plastic stapler with metal on base using an arm.",
+    "Operate the stapler with curved blue top by pressing it with the right arm.",
+    "Press on the blue plastic stapler with silver metal using the right arm.",
+    "Use one arm to press the handheld blue and silver stapler.",
+    "Firmly push the stapler with smooth blue finish using the right arm to operate it.",
+    "Use your the right arm to press the stapler the manual blue stapler.",
+    "Apply pressure to the curved blue and silver stapler firmly",
+    "Push the manual blue stapler using one arm",
+    "Push down on the stapler the blue stapler.",
+    "Simply press the stapler the blue stapler downward.",
+    "Push the stapler with curved blue top until it staples.",
+    "Firmly push down on the blue plastic stapler with silver metal.",
+    "Apply enough force to the manual blue stapler to press it.",
+    "Press the stapler the metallic stapler with blue cover using an arm the right arm.",
+    "Apply pressure to the blue stapler with ergonomic curve with the right arm.",
+    "Push down on the manual blue stapler firmly.",
+    "Apply force to the manual blue stapler to staple.",
+    "Push down firmly on the plastic stapler with metal on base to complete.",
+    "Push down on the manual blue stapler to staple",
+    "Push the stapler the stapler with smooth blue finish to operate it.",
+    "Lower the blue plastic stapler with silver metal using an arm",
+    "Press the stapler with curved blue top firmly to staple",
+    "Apply pressure on the curved blue and silver stapler until it works.",
+    "Push the top of the stapler with curved blue top down",
+    "Push the stapler with smooth blue finish down completely",
+    "Use an arm to press the handheld blue and silver stapler",
+    "Firmly press down on the plastic stapler with metal on base to staple.",
+    "Press the handheld blue and silver stapler to staple the sheets together.",
+    "Press the plastic stapler with metal on base to complete the task.",
+    "Push down on the curved blue and silver stapler to staple papers.",
+    "Press down on the stapler the curved blue and silver stapler firmly.",
+    "Engage the stapler with curved blue top by using the right arm to press it.",
+    "Press on the handheld blue and silver stapler to activate it.",
+    "Lower the right arm onto the stapler the handheld blue and silver stapler.",
+    "Press the blue plastic stapler with silver metal downward using your arm the right arm.",
+    "Push the stapler with curved blue top down firmly.",
+    "Use one arm the right arm to press the blue stapler with shiny silver parts.",
+    "Push the stapler the blue stapler with the right arm.",
+    "Apply pressure to the blue stapler using one arm the right arm.",
+    "Press the blue plastic stapler with silver metal until it works",
+    "Push down on the stapler the blue stapler with ergonomic curve.",
+    "Press down on the plastic stapler with metal on base until it functions.",
+    "Use your arm the right arm to push the metallic stapler with blue cover down.",
+    "Apply force to the blue stapler with shiny silver parts with the right arm",
+    "Apply pressure to the blue stapler with shiny silver parts with the right arm.",
+    "Push the stapler the blue plastic stapler with silver metal to activate it.",
+    "Place pressure on the manual blue stapler to staple.",
+    "Push down forcefully on the stapler the plastic stapler with metal on base.",
+    "Apply one arm the right arm to press the blue stapler with shiny silver parts firmly.",
+    "Push down hard on the blue stapler with the right arm.",
+    "Firmly press the plastic stapler with metal on base using an arm.",
+    "Operate the handheld blue and silver stapler by pressing it with the right arm."
+  ],
+  "unseen": [
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press on the small hand-sized stapler",
+    "Press down on the small hand-sized stapler with the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press down on the blue stapler for holding papers.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small hand-sized stapler with the right arm",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the blue stapler for holding papers.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Push the small hand-sized stapler down with one arm the right arm.",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the blue stapler for holding papers.",
+    "Press the small hand-sized stapler firmly using your arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Press the stapler the small hand-sized stapler with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the small stapler with simple design firmly using the right arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the small stapler with simple design.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the small stapler with simple design with the right arm",
+    "Press down on the blue stapler for holding papers firmly using the right arm.",
+    "Push the small stapler with simple design down with one arm the right arm.",
+    "Use the right arm to press down on the small stapler with simple design.",
+    "Use the right arm to press the stapler the small hand-sized stapler.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the small stapler with simple design firmly using your arm.",
+    "Use the right arm to press on the blue stapler for holding papers",
+    "Press down on the small stapler with simple design with the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small hand-sized stapler firmly using the right arm.",
+    "Push the blue stapler for holding papers down with one arm the right arm.",
+    "Use the right arm to press down on the small hand-sized stapler.",
+    "Use the right arm to press the stapler the small stapler with simple design.",
+    "Use the right arm to press the small hand-sized stapler.",
+    "Press the blue stapler for holding papers firmly using your arm.",
+    "Use the right arm to press on the small stapler with simple design",
+    "Press down on the blue stapler for holding papers with the right arm.",
+    "Press the stapler the small stapler with simple design with the arm the right arm.",
+    "Press down on the blue stapler for holding papers with the right arm",
+    "Press down on the small hand-sized stapler firmly using the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode364.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to press the stapler with white metallic components",
+    "Use your arm the right arm to push the handheld stapler down.",
+    "Push down on the small lightweight blue stapler to staple papers.",
+    "Apply pressure to the compact blue stapler with the right arm.",
+    "Firmly push the stapler with white metallic components using the right arm to operate it.",
+    "Use your the right arm to press the stapler the metal and plastic stapler.",
+    "Push down on the stapler the blue stapler with curved design.",
+    "Press the stapler for stapling paper downward using your arm the right arm.",
+    "Push the metal and plastic stapler until it staples.",
+    "Press the handheld stapler to complete the task.",
+    "Use one arm to press the blue stapler.",
+    "Apply pressure to the blue stapler with curved design using one arm the right arm.",
+    "Push down on the handheld stapler to staple",
+    "Push down firmly on the blue stapler with black handle area to complete.",
+    "Simply press the stapler the plastic blue stapler with metal parts downward.",
+    "Operate the small lightweight blue stapler by pressing it with the right arm.",
+    "Push down hard on the stapler with white metallic components with the right arm.",
+    "Press down on the stapler for stapling paper until it functions.",
+    "Press on the small stapler using the right arm.",
+    "Apply pressure on the compact blue stapler until it works.",
+    "Push the stapler the blue stapler with black handle area to operate it.",
+    "Press the stapler with black top section firmly to staple",
+    "Press the stapler the metal and plastic stapler using an arm the right arm.",
+    "Push down forcefully on the stapler the blue stapler with curved design.",
+    "Push the small stapler down firmly.",
+    "Press on the small stapler to activate it.",
+    "Apply enough force to the stapler with white metallic components to press it.",
+    "Push the stapler the small lightweight blue stapler to activate it.",
+    "Firmly press the plastic blue stapler with metal parts using an arm.",
+    "Engage the plastic blue stapler with metal parts by using the right arm to press it.",
+    "Push the stapler the blue stapler with black handle area with the right arm.",
+    "Apply pressure to the small lightweight blue stapler with the right arm.",
+    "Press down on the stapler the small lightweight blue stapler firmly.",
+    "Firmly press down on the blue stapler to staple.",
+    "Apply force to the stapler with black top section with the right arm",
+    "Push the top of the metal and plastic stapler down",
+    "Apply pressure to the compact blue stapler firmly",
+    "Press the plastic blue stapler with metal parts until it works",
+    "Apply force to the stapler with white metallic components to staple.",
+    "Apply one arm the right arm to press the stapler with black top section firmly.",
+    "Place pressure on the blue stapler with curved design to staple.",
+    "Push the stapler for stapling paper using one arm",
+    "Use one arm the right arm to press the handheld stapler.",
+    "Press the stapler with white metallic components to staple the sheets together.",
+    "Push down on the metal and plastic stapler firmly.",
+    "Lower the right arm onto the stapler the plastic blue stapler with metal parts.",
+    "Push down on the stapler the blue stapler with black handle area.",
+    "Firmly push down on the stapler with black top section.",
+    "Push the stapler for stapling paper down completely",
+    "Lower the stapler with white metallic components using an arm",
+    "Use an arm to press the compact blue stapler",
+    "Use your arm the right arm to push the compact blue stapler down.",
+    "Push down on the blue stapler with curved design to staple papers.",
+    "Apply pressure to the metal and plastic stapler with the right arm.",
+    "Firmly push the stapler with white metallic components using the right arm to operate it.",
+    "Use your the right arm to press the stapler the blue stapler with black handle area.",
+    "Push down on the stapler the blue stapler.",
+    "Press the stapler with black top section downward using your arm the right arm.",
+    "Push the blue stapler with black handle area until it staples.",
+    "Press the compact blue stapler to complete the task.",
+    "Use one arm to press the stapler for stapling paper.",
+    "Apply pressure to the metal and plastic stapler using one arm the right arm.",
+    "Push down on the small lightweight blue stapler to staple",
+    "Push down firmly on the small stapler to complete.",
+    "Simply press the stapler the blue stapler with curved design downward.",
+    "Operate the plastic blue stapler with metal parts by pressing it with the right arm.",
+    "Push down hard on the metal and plastic stapler with the right arm.",
+    "Press down on the small lightweight blue stapler until it functions.",
+    "Press on the compact blue stapler using the right arm.",
+    "Apply pressure on the stapler with black top section until it works.",
+    "Push the stapler the compact blue stapler to operate it.",
+    "Press the stapler with black top section firmly to staple",
+    "Press the stapler the blue stapler with curved design using an arm the right arm.",
+    "Push down forcefully on the stapler the small stapler.",
+    "Push the blue stapler with curved design down firmly.",
+    "Press on the stapler with white metallic components to activate it.",
+    "Apply enough force to the compact blue stapler to press it.",
+    "Push the stapler the small stapler to activate it.",
+    "Firmly press the small stapler using an arm.",
+    "Engage the metal and plastic stapler by using the right arm to press it.",
+    "Push the stapler the compact blue stapler with the right arm.",
+    "Apply pressure to the blue stapler with curved design with the right arm.",
+    "Press down on the stapler the stapler with black top section firmly.",
+    "Firmly press down on the metal and plastic stapler to staple.",
+    "Apply force to the blue stapler with curved design with the right arm",
+    "Push the top of the stapler for stapling paper down",
+    "Apply pressure to the plastic blue stapler with metal parts firmly",
+    "Press the blue stapler with curved design until it works",
+    "Apply force to the compact blue stapler to staple.",
+    "Apply one arm the right arm to press the blue stapler with black handle area firmly.",
+    "Place pressure on the metal and plastic stapler to staple.",
+    "Push the blue stapler with curved design using one arm",
+    "Use one arm the right arm to press the stapler with white metallic components.",
+    "Press the stapler with black top section to staple the sheets together.",
+    "Push down on the stapler with black top section firmly.",
+    "Lower the right arm onto the stapler the compact blue stapler.",
+    "Push down on the stapler the blue stapler.",
+    "Firmly push down on the blue stapler.",
+    "Push the compact blue stapler down completely",
+    "Lower the blue stapler with curved design using an arm"
+  ],
+  "unseen": [
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the stapler with white loading section with the right arm",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the plastic stapler with the right arm",
+    "Press the stapler the blue stapler with smooth finish with the arm the right arm.",
+    "Press down on the blue stapler with smooth finish firmly using the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press the stapler the stapler with white loading section.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the stapler with white loading section with the right arm",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the stapler with white loading section with the right arm",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the blue stapler with smooth finish with the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the plastic stapler with the right arm",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press down on the plastic stapler firmly using the right arm.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the stapler with white loading section firmly using your arm.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the blue stapler with smooth finish.",
+    "Use the right arm to press on the plastic stapler",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the blue stapler with smooth finish.",
+    "Push the plastic stapler down with one arm the right arm.",
+    "Press the plastic stapler firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the plastic stapler with the right arm.",
+    "Use the right arm to press the plastic stapler.",
+    "Use the right arm to press on the stapler with white loading section",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Press the stapler the stapler with white loading section with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the plastic stapler.",
+    "Push the stapler with white loading section down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press the stapler the plastic stapler.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the stapler with white loading section.",
+    "Use the right arm to press on the blue stapler with smooth finish",
+    "Press down on the blue stapler with smooth finish with the right arm",
+    "Press the stapler the plastic stapler with the arm the right arm.",
+    "Press down on the stapler with white loading section firmly using the right arm.",
+    "Use the right arm to press down on the stapler with white loading section.",
+    "Push the blue stapler with smooth finish down with one arm the right arm.",
+    "Press the blue stapler with smooth finish firmly using your arm.",
+    "Use the right arm to press the stapler the blue stapler with smooth finish.",
+    "Press down on the stapler with white loading section with the right arm.",
+    "Use the right arm to press the stapler with white loading section."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode373.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push down forcefully on the stapler the stapler with rounded edges.",
+    "Firmly push the plastic and metal stapler using the left arm to operate it.",
+    "Push the stapler the paper stapler with silver tray to activate it.",
+    "Push down hard on the stapler with orange top lever with the left arm.",
+    "Apply one arm the left arm to press the white stapler with rounded design firmly.",
+    "Push the stapler the stapler with orange button with the left arm.",
+    "Push the stapler with orange top lever until it staples.",
+    "Lower the left arm onto the stapler the modern design stapler.",
+    "Push down on the stapler with orange button to staple",
+    "Apply force to the modern design stapler to staple.",
+    "Push the stapler with rounded edges down firmly.",
+    "Push down on the stapler the plastic and metal stapler.",
+    "Firmly press down on the stapler with rounded edges to staple.",
+    "Use one arm to press the stapler with orange button.",
+    "Press the smooth plastic stapler downward using your arm the left arm.",
+    "Use your the left arm to press the stapler the modern design stapler.",
+    "Push down on the white body stapler with accents firmly.",
+    "Apply pressure to the plastic and metal stapler using one arm the left arm.",
+    "Press the stapler the white body stapler with accents using an arm the left arm.",
+    "Firmly push down on the small office stapler.",
+    "Apply enough force to the smooth plastic stapler to press it.",
+    "Apply force to the white stapler with rounded design with the left arm",
+    "Operate the modern design stapler by pressing it with the left arm.",
+    "Press the white stapler with rounded design until it works",
+    "Place pressure on the stapler with orange top lever to staple.",
+    "Press the small office stapler firmly to staple",
+    "Push the top of the stapler with orange top lever down",
+    "Apply pressure to the plastic and metal stapler with the left arm.",
+    "Use one arm the left arm to press the paper stapler with silver tray.",
+    "Firmly press the small office stapler using an arm.",
+    "Lower the stapler with rounded edges using an arm",
+    "Push down on the stapler the stapler with orange top lever.",
+    "Push the paper stapler with silver tray using one arm",
+    "Push the stapler the stapler with rounded edges to operate it.",
+    "Simply press the stapler the white stapler with rounded design downward.",
+    "Press down on the stapler for fastening papers until it functions.",
+    "Use an arm to press the white body stapler with accents",
+    "Press the white stapler with rounded design to staple the sheets together.",
+    "Apply pressure to the white stapler with rounded design firmly",
+    "Push down firmly on the stapler with rounded edges to complete.",
+    "Press on the stapler with orange button using the left arm.",
+    "Press down on the stapler the smooth plastic stapler firmly.",
+    "Engage the white stapler with rounded design by using the left arm to press it.",
+    "Apply pressure on the plastic and metal stapler until it works.",
+    "Push the handheld stapler down completely",
+    "Press on the stapler with orange button to activate it.",
+    "Push down on the paper stapler with silver tray to staple papers.",
+    "Apply pressure to the small office stapler with the left arm.",
+    "Press the small office stapler to complete the task.",
+    "Use your arm the left arm to push the small office stapler down.",
+    "Push down forcefully on the stapler the stapler with rounded edges.",
+    "Firmly push the handheld stapler using the left arm to operate it.",
+    "Push the stapler the stapler with orange button to activate it.",
+    "Push down hard on the white body stapler with accents with the left arm.",
+    "Apply one arm the left arm to press the paper stapler with silver tray firmly.",
+    "Push the stapler the handheld stapler with the left arm.",
+    "Push the smooth plastic stapler until it staples.",
+    "Lower the left arm onto the stapler the handheld stapler.",
+    "Push down on the paper stapler with silver tray to staple",
+    "Apply force to the stapler with rounded edges to staple.",
+    "Push the paper stapler with silver tray down firmly.",
+    "Push down on the stapler the white body stapler with accents.",
+    "Firmly press down on the white stapler with rounded design to staple.",
+    "Use one arm to press the handheld stapler.",
+    "Press the handheld stapler downward using your arm the left arm.",
+    "Use your the left arm to press the stapler the modern design stapler.",
+    "Push down on the white body stapler with accents firmly.",
+    "Apply pressure to the modern design stapler using one arm the left arm.",
+    "Press the stapler the stapler with rounded edges using an arm the left arm.",
+    "Firmly push down on the handheld stapler.",
+    "Apply enough force to the modern design stapler to press it.",
+    "Apply force to the white stapler with rounded design with the left arm",
+    "Operate the handheld stapler by pressing it with the left arm.",
+    "Press the small office stapler until it works",
+    "Place pressure on the handheld stapler to staple.",
+    "Press the stapler with rounded edges firmly to staple",
+    "Push the top of the smooth plastic stapler down",
+    "Apply pressure to the smooth plastic stapler with the left arm.",
+    "Use one arm the left arm to press the stapler with orange top lever.",
+    "Firmly press the stapler with orange top lever using an arm.",
+    "Lower the handheld stapler using an arm",
+    "Push down on the stapler the stapler with orange button.",
+    "Push the white stapler with rounded design using one arm",
+    "Push the stapler the white stapler with rounded design to operate it.",
+    "Simply press the stapler the handheld stapler downward.",
+    "Press down on the handheld stapler until it functions.",
+    "Use an arm to press the plastic and metal stapler",
+    "Press the white stapler with rounded design to staple the sheets together.",
+    "Apply pressure to the stapler with orange top lever firmly",
+    "Push down firmly on the paper stapler with silver tray to complete.",
+    "Press on the stapler with orange button using the left arm.",
+    "Press down on the stapler the white body stapler with accents firmly.",
+    "Engage the stapler with orange button by using the left arm to press it.",
+    "Apply pressure on the smooth plastic stapler until it works.",
+    "Push the plastic and metal stapler down completely",
+    "Press on the white stapler with rounded design to activate it.",
+    "Push down on the paper stapler with silver tray to staple papers.",
+    "Apply pressure to the handheld stapler with the left arm.",
+    "Press the stapler with orange top lever to complete the task.",
+    "Use your arm the left arm to push the paper stapler with silver tray down."
+  ],
+  "unseen": [
+    "Use the left arm to press the stapler the white stapler.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Use the left arm to press the white stapler.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the white stapler with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press the compact stapler.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with the left arm",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the white stapler with metal tray",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press the compact stapler.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler.",
+    "Use the left arm to press the compact stapler.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the white stapler with the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the compact stapler with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press the white stapler.",
+    "Press the stapler the white stapler with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Push the white stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the compact stapler.",
+    "Use the left arm to press the white stapler.",
+    "Press the stapler the white stapler with metal tray with the arm the left arm.",
+    "Press down on the white stapler firmly using the left arm.",
+    "Press down on the compact stapler with the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the compact stapler",
+    "Use the left arm to press the stapler the compact stapler.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Press down on the compact stapler firmly using the left arm.",
+    "Press down on the white stapler with the left arm.",
+    "Push the compact stapler down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the white stapler",
+    "Use the left arm to press the stapler the white stapler with metal tray.",
+    "Press the white stapler firmly using your arm.",
+    "Use the left arm to press down on the white stapler with metal tray.",
+    "Use the left arm to press the white stapler with metal tray.",
+    "Press the stapler the compact stapler with the arm the left arm.",
+    "Press down on the white stapler with metal tray firmly using the left arm.",
+    "Press down on the white stapler with metal tray with the left arm.",
+    "Push the white stapler with metal tray down with one arm the left arm.",
+    "Press down on the white stapler with metal tray with the left arm",
+    "Use the left arm to press on the compact stapler"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode407.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Apply pressure to the handheld stapler using one arm the right arm.",
+    "Firmly press down on the white body stapler with accents to staple.",
+    "Push down forcefully on the stapler the stapler with orange top lever.",
+    "Press down on the stapler the stapler with rounded edges firmly.",
+    "Push the paper stapler with silver tray down completely",
+    "Use an arm to press the stapler with orange button",
+    "Press the small office stapler firmly to staple",
+    "Press down on the handheld stapler until it functions.",
+    "Apply force to the stapler with rounded edges with the right arm",
+    "Push down on the plastic and metal stapler firmly.",
+    "Engage the stapler with rounded edges by using the right arm to press it.",
+    "Use your the right arm to press the stapler the small office stapler.",
+    "Use one arm the right arm to press the smooth plastic stapler.",
+    "Push the paper stapler with silver tray down firmly.",
+    "Push down on the stapler the smooth plastic stapler.",
+    "Apply pressure to the stapler for fastening papers firmly",
+    "Push down on the modern design stapler to staple papers.",
+    "Apply pressure to the smooth plastic stapler with the right arm.",
+    "Apply pressure on the modern design stapler until it works.",
+    "Lower the right arm onto the stapler the smooth plastic stapler.",
+    "Push down hard on the paper stapler with silver tray with the right arm.",
+    "Press the handheld stapler to staple the sheets together.",
+    "Push the stapler the modern design stapler with the right arm.",
+    "Use one arm to press the stapler for fastening papers.",
+    "Push down firmly on the stapler with orange button to complete.",
+    "Push the stapler the modern design stapler to activate it.",
+    "Simply press the stapler the paper stapler with silver tray downward.",
+    "Place pressure on the stapler for fastening papers to staple.",
+    "Apply enough force to the modern design stapler to press it.",
+    "Press the stapler with rounded edges downward using your arm the right arm.",
+    "Push the top of the handheld stapler down",
+    "Press the stapler with orange top lever to complete the task.",
+    "Press the handheld stapler until it works",
+    "Push the paper stapler with silver tray using one arm",
+    "Firmly push down on the plastic and metal stapler.",
+    "Operate the paper stapler with silver tray by pressing it with the right arm.",
+    "Press on the modern design stapler to activate it.",
+    "Push down on the stapler the stapler with orange button.",
+    "Firmly press the stapler with orange top lever using an arm.",
+    "Apply pressure to the handheld stapler with the right arm.",
+    "Press on the stapler for fastening papers using the right arm.",
+    "Apply force to the plastic and metal stapler to staple.",
+    "Firmly push the stapler with orange top lever using the right arm to operate it.",
+    "Push the stapler the modern design stapler to operate it.",
+    "Use your arm the right arm to push the small office stapler down.",
+    "Apply one arm the right arm to press the plastic and metal stapler firmly.",
+    "Push down on the white stapler with rounded design to staple",
+    "Lower the stapler with orange top lever using an arm",
+    "Push the smooth plastic stapler until it staples.",
+    "Press the stapler the stapler with orange button using an arm the right arm.",
+    "Apply pressure to the stapler with rounded edges using one arm the right arm.",
+    "Firmly press down on the handheld stapler to staple.",
+    "Push down forcefully on the stapler the stapler with rounded edges.",
+    "Press down on the stapler the handheld stapler firmly.",
+    "Push the stapler for fastening papers down completely",
+    "Use an arm to press the small office stapler",
+    "Press the small office stapler firmly to staple",
+    "Press down on the stapler with rounded edges until it functions.",
+    "Apply force to the modern design stapler with the right arm",
+    "Push down on the white body stapler with accents firmly.",
+    "Engage the stapler with orange top lever by using the right arm to press it.",
+    "Use your the right arm to press the stapler the stapler with rounded edges.",
+    "Use one arm the right arm to press the paper stapler with silver tray.",
+    "Push the stapler for fastening papers down firmly.",
+    "Push down on the stapler the stapler with orange top lever.",
+    "Apply pressure to the stapler with orange top lever firmly",
+    "Push down on the plastic and metal stapler to staple papers.",
+    "Apply pressure to the white body stapler with accents with the right arm.",
+    "Apply pressure on the paper stapler with silver tray until it works.",
+    "Lower the right arm onto the stapler the stapler with orange button.",
+    "Push down hard on the plastic and metal stapler with the right arm.",
+    "Press the paper stapler with silver tray to staple the sheets together.",
+    "Push the stapler the paper stapler with silver tray with the right arm.",
+    "Use one arm to press the stapler for fastening papers.",
+    "Push down firmly on the white body stapler with accents to complete.",
+    "Push the stapler the stapler with rounded edges to activate it.",
+    "Simply press the stapler the stapler with orange button downward.",
+    "Place pressure on the stapler with orange top lever to staple.",
+    "Apply enough force to the stapler for fastening papers to press it.",
+    "Press the paper stapler with silver tray downward using your arm the right arm.",
+    "Push the top of the plastic and metal stapler down",
+    "Press the stapler for fastening papers to complete the task.",
+    "Press the small office stapler until it works",
+    "Push the smooth plastic stapler using one arm",
+    "Firmly push down on the stapler with rounded edges.",
+    "Operate the paper stapler with silver tray by pressing it with the right arm.",
+    "Press on the stapler for fastening papers to activate it.",
+    "Push down on the stapler the modern design stapler.",
+    "Firmly press the stapler with orange top lever using an arm.",
+    "Apply pressure to the stapler with orange button with the right arm.",
+    "Press on the smooth plastic stapler using the right arm.",
+    "Apply force to the white stapler with rounded design to staple.",
+    "Firmly push the white body stapler with accents using the right arm to operate it.",
+    "Push the stapler the stapler with orange button to operate it.",
+    "Use your arm the right arm to push the white stapler with rounded design down.",
+    "Apply one arm the right arm to press the small office stapler firmly.",
+    "Push down on the stapler with orange top lever to staple",
+    "Lower the paper stapler with silver tray using an arm",
+    "Push the white stapler with rounded design until it staples.",
+    "Press the stapler the stapler with orange top lever using an arm the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Press down on the white stapler with the right arm",
+    "Press down on the white stapler firmly using the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press on the white stapler",
+    "Push the white stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the white stapler.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Press down on the white stapler with the right arm",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press on the compact stapler",
+    "Push the compact stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Use the right arm to press the compact stapler.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Press down on the white stapler firmly using the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press on the compact stapler",
+    "Push the white stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler with metal tray.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Push the compact stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the white stapler with metal tray with the arm the right arm.",
+    "Press down on the compact stapler with the right arm",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press on the compact stapler",
+    "Push the compact stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press down on the white stapler with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the white stapler with metal tray with the arm the right arm.",
+    "Press down on the white stapler with the right arm",
+    "Press down on the white stapler firmly using the right arm.",
+    "Press the compact stapler firmly using your arm.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Push the compact stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the white stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Use the right arm to press the compact stapler.",
+    "Use the right arm to press down on the white stapler with metal tray.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press on the compact stapler",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with metal tray with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler with metal tray.",
+    "Press the stapler the white stapler with the arm the right arm.",
+    "Press down on the compact stapler with the right arm",
+    "Press down on the compact stapler firmly using the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Push the white stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Use the right arm to press the white stapler with metal tray.",
+    "Use the right arm to press down on the white stapler.",
+    "Press the stapler the white stapler with metal tray with the arm the right arm.",
+    "Press down on the compact stapler with the right arm",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Press the white stapler firmly using your arm.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Push the compact stapler down with one arm the right arm.",
+    "Use the right arm to press the stapler the compact stapler.",
+    "Press down on the white stapler with the right arm.",
+    "Use the right arm to press the compact stapler.",
+    "Use the right arm to press down on the compact stapler.",
+    "Press the stapler the compact stapler with the arm the right arm.",
+    "Press down on the white stapler with metal tray with the right arm",
+    "Press down on the white stapler with metal tray firmly using the right arm.",
+    "Press the white stapler with metal tray firmly using your arm.",
+    "Use the right arm to press on the white stapler with metal tray",
+    "Push the white stapler with metal tray down with one arm the right arm.",
+    "Use the right arm to press the stapler the white stapler with metal tray.",
+    "Press down on the white stapler with metal tray with the right arm."
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode59.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lower the compact bright blue stapler using an arm",
+    "Use your arm the left arm to push the blue rectangular stapler with curves down.",
+    "Push the stapler the plastic stapler with silver mechanism with the left arm.",
+    "Press the blue stapler for paper fastening firmly to staple",
+    "Apply force to the handy blue stapler with metal parts with the left arm",
+    "Push the compact bright blue stapler until it staples.",
+    "Push the blue stapler with silver staple tray down completely",
+    "Push the top of the blue stapler with white accents down",
+    "Use your the left arm to press the stapler the blue stapler for paper fastening.",
+    "Place pressure on the blue stapler to staple.",
+    "Push down on the stapler with blue plastic handle to staple",
+    "Press the plastic stapler with silver mechanism to staple the sheets together.",
+    "Operate the blue stapler for paper fastening by pressing it with the left arm.",
+    "Push down firmly on the simple stapler to complete.",
+    "Push down hard on the blue stapler with silver staple tray with the left arm.",
+    "Lower the left arm onto the stapler the blue stapler with white accents.",
+    "Push down on the blue stapler to staple papers.",
+    "Use an arm to press the plastic stapler with silver mechanism",
+    "Push down forcefully on the stapler the bright blue smooth stapler.",
+    "Press the compact bright blue stapler until it works",
+    "Apply pressure on the stapler with blue plastic handle until it works.",
+    "Press down on the handy blue stapler with metal parts until it functions.",
+    "Press on the compact bright blue stapler to activate it.",
+    "Firmly push the blue stapler for paper fastening using the left arm to operate it.",
+    "Simply press the stapler the blue rectangular stapler with curves downward.",
+    "Push down on the stapler the stapler with blue plastic handle.",
+    "Engage the handy blue stapler with metal parts by using the left arm to press it.",
+    "Use one arm to press the handy blue stapler with metal parts.",
+    "Push down on the stapler the stapler with blue plastic handle.",
+    "Press the compact bright blue stapler downward using your arm the left arm.",
+    "Press the stapler the compact bright blue stapler using an arm the left arm.",
+    "Push the stapler the compact bright blue stapler to operate it.",
+    "Push the compact bright blue stapler using one arm",
+    "Apply one arm the left arm to press the blue stapler firmly.",
+    "Push the stapler the handy blue stapler with metal parts to activate it.",
+    "Press on the bright blue smooth stapler using the left arm.",
+    "Apply enough force to the plastic stapler with metallic interior to press it.",
+    "Push down on the stapler with blue plastic handle firmly.",
+    "Apply pressure to the blue rectangular stapler with curves with the left arm.",
+    "Firmly press the blue rectangular stapler with curves using an arm.",
+    "Apply force to the blue stapler to staple.",
+    "Apply pressure to the plastic stapler with metallic interior with the left arm.",
+    "Push the compact bright blue stapler down firmly.",
+    "Press down on the stapler the stapler with blue plastic handle firmly.",
+    "Press the plastic stapler with metallic interior to complete the task.",
+    "Apply pressure to the plastic stapler with metallic interior using one arm the left arm.",
+    "Firmly push down on the plastic stapler with silver mechanism.",
+    "Use one arm the left arm to press the stapler with blue plastic handle.",
+    "Apply pressure to the bright blue smooth stapler firmly",
+    "Firmly press down on the blue rectangular stapler with curves to staple.",
+    "Lower the compact bright blue stapler using an arm",
+    "Use your arm the left arm to push the bright blue smooth stapler down.",
+    "Push the stapler the compact bright blue stapler with the left arm.",
+    "Press the blue stapler with white accents firmly to staple",
+    "Apply force to the blue stapler with silver staple tray with the left arm",
+    "Push the bright blue smooth stapler until it staples.",
+    "Push the blue stapler with silver staple tray down completely",
+    "Push the top of the blue stapler for paper fastening down",
+    "Use your the left arm to press the stapler the compact bright blue stapler.",
+    "Place pressure on the handy blue stapler with metal parts to staple.",
+    "Push down on the bright blue smooth stapler to staple",
+    "Press the stapler with blue plastic handle to staple the sheets together.",
+    "Operate the stapler with blue plastic handle by pressing it with the left arm.",
+    "Push down firmly on the blue stapler with white accents to complete.",
+    "Push down hard on the stapler with blue plastic handle with the left arm.",
+    "Lower the left arm onto the stapler the plastic stapler with metallic interior.",
+    "Push down on the bright blue smooth stapler to staple papers.",
+    "Use an arm to press the handy blue stapler with metal parts",
+    "Push down forcefully on the stapler the blue stapler for paper fastening.",
+    "Press the blue rectangular stapler with curves until it works",
+    "Apply pressure on the blue stapler until it works.",
+    "Press down on the bright blue smooth stapler until it functions.",
+    "Press on the blue stapler to activate it.",
+    "Firmly push the blue stapler with silver staple tray using the left arm to operate it.",
+    "Simply press the stapler the simple stapler downward.",
+    "Push down on the stapler the blue rectangular stapler with curves.",
+    "Engage the plastic stapler with silver mechanism by using the left arm to press it.",
+    "Use one arm to press the compact bright blue stapler.",
+    "Push down on the stapler the blue stapler.",
+    "Press the plastic stapler with silver mechanism downward using your arm the left arm.",
+    "Press the stapler the blue stapler for paper fastening using an arm the left arm.",
+    "Push the stapler the simple stapler to operate it.",
+    "Push the plastic stapler with silver mechanism using one arm",
+    "Apply one arm the left arm to press the simple stapler firmly.",
+    "Push the stapler the stapler with blue plastic handle to activate it.",
+    "Press on the blue rectangular stapler with curves using the left arm.",
+    "Apply enough force to the handy blue stapler with metal parts to press it.",
+    "Push down on the plastic stapler with metallic interior firmly.",
+    "Apply pressure to the bright blue smooth stapler with the left arm.",
+    "Firmly press the blue rectangular stapler with curves using an arm.",
+    "Apply force to the blue rectangular stapler with curves to staple.",
+    "Apply pressure to the blue stapler with white accents with the left arm.",
+    "Push the handy blue stapler with metal parts down firmly.",
+    "Press down on the stapler the stapler with blue plastic handle firmly.",
+    "Press the handy blue stapler with metal parts to complete the task.",
+    "Apply pressure to the simple stapler using one arm the left arm.",
+    "Firmly push down on the blue stapler for paper fastening.",
+    "Use one arm the left arm to press the handy blue stapler with metal parts.",
+    "Apply pressure to the bright blue smooth stapler firmly",
+    "Firmly press down on the simple stapler to staple."
+  ],
+  "unseen": [
+    "Push the hand-size bright blue stapler down with one arm the left arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the hand-size bright blue stapler down with one arm the left arm.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Use the left arm to press down on the rectangular stapler with curved corners.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the stapler the blue and white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm",
+    "Push the hand-size bright blue stapler down with one arm the left arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Use the left arm to press down on the rectangular stapler with curved corners.",
+    "Use the left arm to press on the blue and white stapler",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Press down on the blue and white stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the blue and white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Use the left arm to press down on the rectangular stapler with curved corners.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the hand-size bright blue stapler with the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the hand-size bright blue stapler down with one arm the left arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Use the left arm to press down on the rectangular stapler with curved corners.",
+    "Use the left arm to press on the hand-size bright blue stapler",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press on the blue and white stapler",
+    "Press the stapler the blue and white stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Use the left arm to press the hand-size bright blue stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the blue and white stapler with the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm",
+    "Push the blue and white stapler down with one arm the left arm.",
+    "Press down on the hand-size bright blue stapler firmly using the left arm.",
+    "Use the left arm to press down on the blue and white stapler.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the hand-size bright blue stapler with the arm the left arm.",
+    "Use the left arm to press the stapler the hand-size bright blue stapler.",
+    "Use the left arm to press the blue and white stapler.",
+    "Press the rectangular stapler with curved corners firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Press down on the blue and white stapler with the left arm",
+    "Push the rectangular stapler with curved corners down with one arm the left arm.",
+    "Press down on the rectangular stapler with curved corners firmly using the left arm.",
+    "Use the left arm to press down on the hand-size bright blue stapler.",
+    "Use the left arm to press on the rectangular stapler with curved corners",
+    "Press the stapler the rectangular stapler with curved corners with the arm the left arm.",
+    "Use the left arm to press the stapler the blue and white stapler.",
+    "Use the left arm to press the rectangular stapler with curved corners.",
+    "Press the hand-size bright blue stapler firmly using your arm.",
+    "Press down on the rectangular stapler with curved corners with the left arm.",
+    "Press down on the hand-size bright blue stapler with the left arm"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode64.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down on the stapler the desk stapler with red body firmly.",
+    "Press the red stapler with black base to staple the sheets together.",
+    "Use your arm the right arm to push the manual stapler with black base down.",
+    "Apply pressure to the red plastic stapler with smooth top using one arm the right arm.",
+    "Apply enough force to the red stapler with black base to press it.",
+    "Push down on the red plastic stapler with smooth top firmly.",
+    "Push the stapler the office stapler with plastic and metal parts to operate it.",
+    "Press the small handheld stapler downward using your arm the right arm.",
+    "Push down on the stapler the desk stapler with red body.",
+    "Use an arm to press the stapler with red top",
+    "Press the stapler the stapler for fastening papers using an arm the right arm.",
+    "Push the top of the stapler with red top down",
+    "Press on the small handheld stapler using the right arm.",
+    "Apply force to the manual stapler with black base to staple.",
+    "Press on the red top black bottom stapler to activate it.",
+    "Lower the right arm onto the stapler the manual stapler with black base.",
+    "Press the compact office stapler until it works",
+    "Firmly push the red plastic stapler with smooth top using the right arm to operate it.",
+    "Apply pressure to the desk stapler with red body firmly",
+    "Push down firmly on the stapler for fastening papers to complete.",
+    "Operate the compact office stapler by pressing it with the right arm.",
+    "Place pressure on the red stapler with black base to staple.",
+    "Push down hard on the stapler for fastening papers with the right arm.",
+    "Press the small handheld stapler firmly to staple",
+    "Press down on the stapler for fastening papers until it functions.",
+    "Push the stapler the compact office stapler to activate it.",
+    "Apply pressure to the red stapler with black base with the right arm.",
+    "Push the manual stapler with black base until it staples.",
+    "Firmly press the stapler for fastening papers using an arm.",
+    "Firmly push down on the small handheld stapler.",
+    "Press the office stapler with plastic and metal parts to complete the task.",
+    "Push down forcefully on the stapler the red stapler.",
+    "Push the manual stapler with black base down completely",
+    "Apply one arm the right arm to press the red stapler firmly.",
+    "Push down on the small handheld stapler to staple papers.",
+    "Push the compact office stapler using one arm",
+    "Apply pressure to the red stapler with the right arm.",
+    "Apply pressure on the red stapler with black base until it works.",
+    "Push down on the desk stapler with red body to staple",
+    "Apply force to the stapler with metallic staple slot with the right arm",
+    "Push the compact office stapler down firmly.",
+    "Lower the manual stapler with black base using an arm",
+    "Simply press the stapler the desk stapler with red body downward.",
+    "Firmly press down on the red top black bottom stapler to staple.",
+    "Engage the red plastic stapler with smooth top by using the right arm to press it.",
+    "Push the stapler the stapler for fastening papers with the right arm.",
+    "Push down on the stapler the desk stapler with red body.",
+    "Use your the right arm to press the stapler the stapler for fastening papers.",
+    "Use one arm to press the red top black bottom stapler.",
+    "Use one arm the right arm to press the desk stapler with red body.",
+    "Press down on the stapler the stapler with metallic staple slot firmly.",
+    "Press the stapler for fastening papers to staple the sheets together.",
+    "Use your arm the right arm to push the office stapler with plastic and metal parts down.",
+    "Apply pressure to the red top black bottom stapler using one arm the right arm.",
+    "Apply enough force to the stapler with red top to press it.",
+    "Push down on the stapler with metallic staple slot firmly.",
+    "Push the stapler the office stapler with plastic and metal parts to operate it.",
+    "Press the red stapler with black base downward using your arm the right arm.",
+    "Push down on the stapler the office stapler with plastic and metal parts.",
+    "Use an arm to press the office stapler with plastic and metal parts",
+    "Press the stapler the office stapler with plastic and metal parts using an arm the right arm.",
+    "Push the top of the red stapler down",
+    "Press on the stapler with red top using the right arm.",
+    "Apply force to the office stapler with plastic and metal parts to staple.",
+    "Press on the manual stapler with black base to activate it.",
+    "Lower the right arm onto the stapler the compact office stapler.",
+    "Press the red stapler until it works",
+    "Firmly push the desk stapler with red body using the right arm to operate it.",
+    "Apply pressure to the stapler with red top firmly",
+    "Push down firmly on the small handheld stapler to complete.",
+    "Operate the red stapler by pressing it with the right arm.",
+    "Place pressure on the stapler for fastening papers to staple.",
+    "Push down hard on the red top black bottom stapler with the right arm.",
+    "Press the office stapler with plastic and metal parts firmly to staple",
+    "Press down on the office stapler with plastic and metal parts until it functions.",
+    "Push the stapler the stapler with red top to activate it.",
+    "Apply pressure to the stapler with red top with the right arm.",
+    "Push the stapler for fastening papers until it staples.",
+    "Firmly press the stapler with metallic staple slot using an arm.",
+    "Firmly push down on the manual stapler with black base.",
+    "Press the stapler with red top to complete the task.",
+    "Push down forcefully on the stapler the stapler for fastening papers.",
+    "Push the compact office stapler down completely",
+    "Apply one arm the right arm to press the red stapler with black base firmly.",
+    "Push down on the office stapler with plastic and metal parts to staple papers.",
+    "Push the small handheld stapler using one arm",
+    "Apply pressure to the red plastic stapler with smooth top with the right arm.",
+    "Apply pressure on the compact office stapler until it works.",
+    "Push down on the small handheld stapler to staple",
+    "Apply force to the office stapler with plastic and metal parts with the right arm",
+    "Push the stapler with red top down firmly.",
+    "Lower the manual stapler with black base using an arm",
+    "Simply press the stapler the red plastic stapler with smooth top downward.",
+    "Firmly press down on the stapler for fastening papers to staple.",
+    "Engage the red stapler by using the right arm to press it.",
+    "Push the stapler the stapler with red top with the right arm.",
+    "Push down on the stapler the red top black bottom stapler.",
+    "Use your the right arm to press the stapler the manual stapler with black base.",
+    "Use one arm to press the red plastic stapler with smooth top.",
+    "Use one arm the right arm to press the compact office stapler."
+  ],
+  "unseen": [
+    "Use the right arm to press the red plastic stapler.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press the red plastic stapler.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Use the right arm to press on the red plastic stapler"
+  ]
+}

press_stapler/ur5_randomized_500/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Operate the small handheld stapler by pressing it with the right arm.",
+    "Lower the compact office stapler using an arm",
+    "Press the office stapler with plastic and metal parts firmly to staple",
+    "Use an arm to press the office stapler with plastic and metal parts",
+    "Use one arm the right arm to press the compact office stapler.",
+    "Press the compact office stapler to complete the task.",
+    "Simply press the stapler the red stapler with black base downward.",
+    "Push the red top black bottom stapler until it staples.",
+    "Push down hard on the red stapler with black base with the right arm.",
+    "Press on the red stapler with black base using the right arm.",
+    "Apply pressure to the red top black bottom stapler with the right arm.",
+    "Press on the red plastic stapler with smooth top to activate it.",
+    "Push the desk stapler with red body using one arm",
+    "Press the stapler the stapler with metallic staple slot using an arm the right arm.",
+    "Use your the right arm to press the stapler the red top black bottom stapler.",
+    "Press down on the office stapler with plastic and metal parts until it functions.",
+    "Push the top of the red top black bottom stapler down",
+    "Apply pressure to the small handheld stapler using one arm the right arm.",
+    "Lower the right arm onto the stapler the stapler with metallic staple slot.",
+    "Push the stapler the office stapler with plastic and metal parts to operate it.",
+    "Apply one arm the right arm to press the office stapler with plastic and metal parts firmly.",
+    "Push the stapler with metallic staple slot down firmly.",
+    "Place pressure on the red plastic stapler with smooth top to staple.",
+    "Apply force to the desk stapler with red body with the right arm",
+    "Firmly push the office stapler with plastic and metal parts using the right arm to operate it.",
+    "Firmly press down on the red stapler with black base to staple.",
+    "Apply pressure on the stapler for fastening papers until it works.",
+    "Apply force to the red stapler to staple.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Engage the red plastic stapler with smooth top by using the right arm to press it.",
+    "Apply pressure to the office stapler with plastic and metal parts firmly",
+    "Apply enough force to the manual stapler with black base to press it.",
+    "Push down on the small handheld stapler firmly.",
+    "Firmly push down on the compact office stapler.",
+    "Push down on the stapler with red top to staple",
+    "Firmly press the stapler with metallic staple slot using an arm.",
+    "Push the stapler the red stapler with black base with the right arm.",
+    "Use your arm the right arm to push the small handheld stapler down.",
+    "Press the office stapler with plastic and metal parts downward using your arm the right arm.",
+    "Press the red plastic stapler with smooth top to staple the sheets together.",
+    "Use one arm to press the small handheld stapler.",
+    "Press the office stapler with plastic and metal parts until it works",
+    "Push down on the stapler the stapler for fastening papers.",
+    "Apply pressure to the stapler with metallic staple slot with the right arm.",
+    "Push the stapler for fastening papers down completely",
+    "Push the stapler the red plastic stapler with smooth top to activate it.",
+    "Push down on the stapler the red plastic stapler with smooth top.",
+    "Push down forcefully on the stapler the compact office stapler.",
+    "Press down on the stapler the red stapler firmly.",
+    "Push down on the red top black bottom stapler to staple papers.",
+    "Operate the stapler for fastening papers by pressing it with the right arm.",
+    "Lower the red stapler with black base using an arm",
+    "Press the compact office stapler firmly to staple",
+    "Use an arm to press the compact office stapler",
+    "Use one arm the right arm to press the compact office stapler.",
+    "Press the small handheld stapler to complete the task.",
+    "Simply press the stapler the stapler with metallic staple slot downward.",
+    "Push the small handheld stapler until it staples.",
+    "Push down hard on the red stapler with black base with the right arm.",
+    "Press on the red plastic stapler with smooth top using the right arm.",
+    "Apply pressure to the stapler with red top with the right arm.",
+    "Press on the stapler with red top to activate it.",
+    "Push the manual stapler with black base using one arm",
+    "Press the stapler the red stapler with black base using an arm the right arm.",
+    "Use your the right arm to press the stapler the red stapler.",
+    "Press down on the stapler with red top until it functions.",
+    "Push the top of the small handheld stapler down",
+    "Apply pressure to the red stapler with black base using one arm the right arm.",
+    "Lower the right arm onto the stapler the stapler with red top.",
+    "Push the stapler the stapler with metallic staple slot to operate it.",
+    "Apply one arm the right arm to press the small handheld stapler firmly.",
+    "Push the compact office stapler down firmly.",
+    "Place pressure on the stapler with metallic staple slot to staple.",
+    "Apply force to the red top black bottom stapler with the right arm",
+    "Firmly push the desk stapler with red body using the right arm to operate it.",
+    "Firmly press down on the desk stapler with red body to staple.",
+    "Apply pressure on the red stapler until it works.",
+    "Apply force to the manual stapler with black base to staple.",
+    "Push down firmly on the red top black bottom stapler to complete.",
+    "Engage the stapler with metallic staple slot by using the right arm to press it.",
+    "Apply pressure to the stapler with red top firmly",
+    "Apply enough force to the desk stapler with red body to press it.",
+    "Push down on the red stapler firmly.",
+    "Firmly push down on the red top black bottom stapler.",
+    "Push down on the red stapler to staple",
+    "Firmly press the stapler with red top using an arm.",
+    "Push the stapler the small handheld stapler with the right arm.",
+    "Use your arm the right arm to push the red stapler down.",
+    "Press the desk stapler with red body downward using your arm the right arm.",
+    "Press the stapler for fastening papers to staple the sheets together.",
+    "Use one arm to press the red stapler.",
+    "Press the desk stapler with red body until it works",
+    "Push down on the stapler the stapler with red top.",
+    "Apply pressure to the small handheld stapler with the right arm.",
+    "Push the manual stapler with black base down completely",
+    "Push the stapler the compact office stapler to activate it.",
+    "Push down on the stapler the red stapler with black base.",
+    "Push down forcefully on the stapler the stapler with metallic staple slot.",
+    "Press down on the stapler the office stapler with plastic and metal parts firmly.",
+    "Push down on the red stapler with black base to staple papers."
+  ],
+  "unseen": [
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red plastic stapler firmly using the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the red plastic stapler down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red plastic stapler firmly using your arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the stapler the paper stapler with curved handle with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press down on the red stapler with silver chamber.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the stapler the red plastic stapler.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the paper stapler with curved handle",
+    "Use the right arm to press down on the paper stapler with curved handle.",
+    "Press down on the red stapler with silver chamber firmly using the right arm.",
+    "Press down on the red plastic stapler with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the paper stapler with curved handle firmly using your arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the red stapler with silver chamber down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the red plastic stapler with the right arm",
+    "Press the stapler the red stapler with silver chamber with the arm the right arm.",
+    "Use the right arm to press the red stapler with silver chamber.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the right arm to press the stapler the paper stapler with curved handle.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red stapler with silver chamber",
+    "Use the right arm to press down on the red plastic stapler.",
+    "Press down on the paper stapler with curved handle firmly using the right arm.",
+    "Press down on the red stapler with silver chamber with the right arm.",
+    "Press down on the paper stapler with curved handle with the right arm",
+    "Press the stapler the red plastic stapler with the arm the right arm.",
+    "Use the right arm to press the paper stapler with curved handle.",
+    "Press the red stapler with silver chamber firmly using your arm.",
+    "Use the right arm to press the stapler the red stapler with silver chamber.",
+    "Push the paper stapler with curved handle down with one arm the right arm.",
+    "Use the right arm to press on the red plastic stapler"
+  ]
+}