Add files using upload-large-folder tool

place_empty_cup/arx-x5_randomized_500/instructions/episode158.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the rounded base blue cup carefully on the coaster made of smooth wood",
+    "Move the smooth blue cup for liquids to the round coaster and set it down.",
+    "Set the cylindrical light blue cup down on the small coaster with grain texture",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the wooden coaster.",
+    "Set the smooth blue drinking cup securely on the coaster with circular shape using the arm.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray streaked wooden coaster",
+    "Set the blue rounded-bottom cup on the flat surface gray wooden coaster using the arm.",
+    "Position the cup with light blue color above and drop it on the small coaster with grain texture",
+    "Drop the cup with smooth plastic surface firmly on the light gray streaked wooden coaster using arm",
+    "Move the cylindrical light blue cup using the arm onto the round coaster.",
+    "Move the plastic cup for drinks to the coaster with circular shape using the arm.",
+    "Carefully place the light blue plastic cup onto the round coaster with light streaks without arm",
+    "Grab the blue rounded-bottom cup and set it onto the grainy texture coaster.",
+    "Position the cup for holding liquids squarely on top of the light gray streaked wooden coaster.",
+    "Slide the cup with smooth plastic surface onto the grainy texture coaster with the arm.",
+    "Use an arm to drop the cup for holding liquids on the wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Drop the blue rounded-bottom cup on top of the grainy texture coaster.",
+    "Use the arm to set the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Use the arm to slide the cup with light blue color onto the grainy texture coaster.",
+    "Grab the cylindrical light blue cup and place it on the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup carefully onto the smooth round palm-sized coaster",
+    "Set the smooth blue cup for liquids onto the flat round wooden coaster using the arm.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks with the arm",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Using the arm, drop the medium-sized plastic blue cup onto the wooden coaster.",
+    "Use the arm to position the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Align the smooth blue drinking cup and set it down on the smooth round palm-sized coaster",
+    "Using the arm, align the smooth blue cup for liquids over the light gray round grainy coaster",
+    "Grab the smooth blue drinking cup and place it over the coaster made of smooth wood.",
+    "Lift the medium-sized plastic blue cup up and drop it on the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids and place it over the grainy texture coaster",
+    "Lift the rounded base blue cup and place it onto the round coaster.",
+    "Move the cup with light blue color to the coaster made of smooth wood",
+    "Relocate the light blue plastic cup precisely onto the coaster with circular shape with arm",
+    "Make sure the smooth blue drinking cup ends up on the light gray round grainy coaster.",
+    "Stick the cup with light blue color onto the wooden coaster using the arm.",
+    "Direct the cup with smooth plastic surface to the round coaster and let it rest.",
+    "Use the arm to put the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster with circular shape.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster carefully.",
+    "Stick the plastic cup for drinks onto the wooden coaster using the arm",
+    "Slide the cup with smooth plastic surface gently onto the wooden coaster via the arm.",
+    "Position the cylindrical light blue cup on the small coaster with grain texture with the arm.",
+    "Place the cylindrical light blue cup on top of the wooden coaster",
+    "Lift the cylindrical light blue cup and stick it onto the small coaster with grain texture.",
+    "Position the light blue plastic cup carefully on the light gray streaked wooden coaster",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster and set it down.",
+    "Set the cup for holding liquids down on the flat round wooden coaster",
+    "Using the arm, slide the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Pick the medium-sized plastic blue cup up and drop it on the round coaster with light streaks.",
+    "Set the plastic cup for drinks securely on the flat round wooden coaster using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the smooth round palm-sized coaster",
+    "Set the medium-sized plastic blue cup on the coaster made of smooth wood using the arm.",
+    "Position the smooth blue drinking cup above and drop it on the round coaster with light streaks",
+    "Drop the smooth blue cup for liquids firmly on the light gray streaked wooden coaster using arm",
+    "Move the plastic cup for drinks using the arm onto the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup to the grainy texture coaster using the arm.",
+    "Carefully place the medium blue cylindrical cup onto the coaster made of smooth wood without arm",
+    "Grab the blue rounded-bottom cup and set it onto the coaster made of smooth wood.",
+    "Position the smooth blue drinking cup squarely on top of the round coaster.",
+    "Slide the light blue plastic cup onto the light gray streaked wooden coaster with the arm.",
+    "Use an arm to drop the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Use the arm to position the cup for holding liquids onto the round coaster.",
+    "Drop the plastic cup for drinks on top of the smooth round palm-sized coaster.",
+    "Use the arm to set the smooth blue drinking cup on the flat surface gray wooden coaster",
+    "Use the arm to slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup and place it on the smooth round palm-sized coaster.",
+    "Set the smooth blue drinking cup carefully onto the wooden coaster",
+    "Set the cylindrical light blue cup onto the round coaster with light streaks using the arm.",
+    "Move the smooth blue drinking cup onto the wooden coaster with the arm",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm to place the cylindrical light blue cup on the grainy texture coaster",
+    "Using the arm, drop the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Use the arm to position the light blue plastic cup on the round coaster with light streaks.",
+    "Align the cup with smooth plastic surface and set it down on the small coaster with grain texture",
+    "Using the arm, align the medium-sized plastic blue cup over the grainy texture coaster",
+    "Grab the cup with smooth plastic surface and place it over the grainy texture coaster.",
+    "Lift the cup for holding liquids up and drop it on the grainy texture coaster.",
+    "Lift the cup for holding liquids and place it over the flat round wooden coaster",
+    "Lift the medium-sized plastic blue cup and place it onto the wooden coaster.",
+    "Move the rounded base blue cup to the small coaster with grain texture",
+    "Relocate the cylindrical light blue cup precisely onto the small coaster with grain texture with arm",
+    "Make sure the cylindrical light blue cup ends up on the round coaster.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Direct the smooth blue drinking cup to the flat surface gray wooden coaster and let it rest.",
+    "Use the arm to put the cup with light blue color onto the wooden coaster.",
+    "Use arm to place the plastic cup for drinks on the round coaster",
+    "Slide the blue rounded-bottom cup onto the flat round wooden coaster",
+    "Grab the cup with light blue color, then place it onto the coaster with circular shape.",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster carefully.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster using the arm",
+    "Slide the cup with light blue color gently onto the grainy texture coaster via the arm.",
+    "Position the medium blue cylindrical cup on the flat round wooden coaster with the arm.",
+    "Place the smooth blue drinking cup on top of the wooden coaster",
+    "Lift the smooth blue drinking cup and stick it onto the round coaster."
+  ],
+  "unseen": [
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode169.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to position the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the light gray round grainy coaster and set it down.",
+    "Set the cylindrical light blue cup securely on the flat round wooden coaster using the arm.",
+    "Slide the light blue plastic cup onto the light gray round grainy coaster",
+    "Slide the medium blue cylindrical cup gently onto the light gray streaked wooden coaster via the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the coaster made of smooth wood.",
+    "Using the arm, slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the cup for holding liquids onto the small coaster with grain texture.",
+    "Position the smooth blue drinking cup squarely on top of the round coaster with light streaks.",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the round coaster with light streaks.",
+    "Use an arm to place the medium-sized plastic blue cup on the small coaster with grain texture",
+    "Move the cup with light blue color onto the light gray round grainy coaster with the arm",
+    "Position the smooth blue drinking cup carefully on the flat surface gray wooden coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Grab the rounded base blue cup and place it on the light gray streaked wooden coaster.",
+    "Carefully place the medium blue cylindrical cup onto the round coaster without arm",
+    "Make sure the rounded base blue cup ends up on the wooden coaster.",
+    "Set the cup with light blue color down on the flat round wooden coaster",
+    "Lift the cup for holding liquids and place it onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster using the arm.",
+    "Place the medium blue cylindrical cup on top of the small coaster with grain texture",
+    "Using the arm, align the cylindrical light blue cup over the grainy texture coaster",
+    "Position the plastic cup for drinks above and drop it on the wooden coaster",
+    "Drop the cup with light blue color on top of the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup and place it over the light gray streaked wooden coaster",
+    "Lift the smooth blue drinking cup and stick it onto the small coaster with grain texture.",
+    "Grab the rounded base blue cup and lower it onto the coaster with circular shape",
+    "Direct the cup with smooth plastic surface to the flat round wooden coaster and let it rest.",
+    "Set the cup for holding liquids on the small coaster with grain texture using the arm.",
+    "Grab the plastic cup for drinks and place it over the flat round wooden coaster.",
+    "Stick the cylindrical light blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Pick the cylindrical light blue cup up and drop it on the wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the wooden coaster",
+    "Drop the cup for holding liquids firmly on the coaster with circular shape using arm",
+    "Use the arm to put the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Align the smooth blue drinking cup and set it down on the grainy texture coaster",
+    "Grab the cup with smooth plastic surface, then place it onto the grainy texture coaster.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Lift the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Use arm to place the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster",
+    "Stick the plastic cup for drinks onto the round coaster with light streaks carefully.",
+    "Set the smooth blue drinking cup carefully onto the grainy texture coaster",
+    "Set the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Use the arm to slide the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Position the cup with light blue color on the flat round wooden coaster with the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the coaster with circular shape with arm",
+    "Slide the smooth blue drinking cup onto the smooth round palm-sized coaster with the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture and set it down.",
+    "Set the light blue plastic cup securely on the coaster with circular shape using the arm.",
+    "Slide the rounded base blue cup onto the round coaster",
+    "Slide the medium-sized plastic blue cup gently onto the flat round wooden coaster via the arm.",
+    "Grab the cup for holding liquids and set it onto the flat round wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the flat round wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the round coaster with light streaks.",
+    "Position the medium-sized plastic blue cup squarely on top of the grainy texture coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the light gray streaked wooden coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture with the arm",
+    "Position the smooth blue cup for liquids carefully on the small coaster with grain texture",
+    "Use an arm to drop the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it on the smooth round palm-sized coaster.",
+    "Carefully place the cup with smooth plastic surface onto the smooth round palm-sized coaster without arm",
+    "Make sure the smooth blue drinking cup ends up on the wooden coaster.",
+    "Set the smooth blue drinking cup down on the flat round wooden coaster",
+    "Lift the smooth blue drinking cup and place it onto the round coaster.",
+    "Move the smooth blue drinking cup to the flat round wooden coaster using the arm.",
+    "Place the smooth blue cup for liquids on top of the flat round wooden coaster",
+    "Using the arm, align the blue rounded-bottom cup over the flat surface gray wooden coaster",
+    "Position the smooth blue drinking cup above and drop it on the smooth round palm-sized coaster",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Lift the smooth blue drinking cup and place it over the smooth round palm-sized coaster",
+    "Lift the cylindrical light blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray streaked wooden coaster",
+    "Direct the cup for holding liquids to the coaster made of smooth wood and let it rest.",
+    "Set the cup with light blue color on the flat surface gray wooden coaster using the arm.",
+    "Grab the smooth blue cup for liquids and place it over the smooth round palm-sized coaster.",
+    "Stick the plastic cup for drinks onto the small coaster with grain texture using the arm.",
+    "Pick the light blue plastic cup up and drop it on the round coaster.",
+    "Use the arm to set the cylindrical light blue cup on the small coaster with grain texture",
+    "Drop the blue rounded-bottom cup firmly on the small coaster with grain texture using arm",
+    "Use the arm to put the rounded base blue cup onto the round coaster.",
+    "Align the cylindrical light blue cup and set it down on the smooth round palm-sized coaster",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster with circular shape.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster",
+    "Stick the medium-sized plastic blue cup onto the light gray streaked wooden coaster using the arm",
+    "Lift the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Use arm to place the smooth blue cup for liquids on the round coaster with light streaks",
+    "Use an arm to drop the cup with smooth plastic surface on the small coaster with grain texture",
+    "Stick the light blue plastic cup onto the coaster with circular shape carefully.",
+    "Set the blue rounded-bottom cup carefully onto the flat round wooden coaster",
+    "Set the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Position the blue rounded-bottom cup on the coaster with circular shape with the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the grainy texture coaster with arm",
+    "Slide the blue rounded-bottom cup onto the wooden coaster with the arm."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode184.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Set the rounded base blue cup carefully onto the grainy texture coaster",
+    "Relocate the cup with light blue color precisely onto the coaster with circular shape with arm",
+    "Set the cup for holding liquids securely on the small coaster with grain texture using the arm.",
+    "Drop the light blue plastic cup on top of the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup and stick it onto the round coaster with light streaks.",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Stick the cup with light blue color onto the small coaster with grain texture carefully.",
+    "Move the light blue plastic cup to the round coaster using the arm.",
+    "Carefully place the medium-sized plastic blue cup onto the grainy texture coaster without arm",
+    "Move the light blue plastic cup to the round coaster with light streaks",
+    "Lift the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Stick the plastic cup for drinks onto the smooth round palm-sized coaster using the arm",
+    "Move the rounded base blue cup onto the wooden coaster with the arm",
+    "Grab the cylindrical light blue cup, then place it onto the round coaster with light streaks.",
+    "Position the smooth blue drinking cup carefully on the flat round wooden coaster",
+    "Position the cylindrical light blue cup above and drop it on the flat round wooden coaster",
+    "Move the cylindrical light blue cup to the round coaster with light streaks and set it down.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Direct the smooth blue cup for liquids to the round coaster with light streaks and let it rest.",
+    "Slide the medium blue cylindrical cup onto the wooden coaster",
+    "Set the cup for holding liquids on the round coaster using the arm.",
+    "Use the arm to set the plastic cup for drinks on the coaster made of smooth wood",
+    "Move the blue rounded-bottom cup using the arm onto the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup and place it on the light gray streaked wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the flat surface gray wooden coaster.",
+    "Set the medium-sized plastic blue cup down on the wooden coaster",
+    "Set the light blue plastic cup onto the light gray streaked wooden coaster using the arm.",
+    "Use the arm to position the cup for holding liquids on the coaster with circular shape.",
+    "Make sure the smooth blue cup for liquids ends up on the flat surface gray wooden coaster.",
+    "Use the arm to position the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster with light streaks",
+    "Using the arm, drop the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Align the medium-sized plastic blue cup and set it down on the smooth round palm-sized coaster",
+    "Lift the blue rounded-bottom cup and place it over the wooden coaster",
+    "Slide the light blue plastic cup onto the grainy texture coaster with the arm.",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster with light streaks.",
+    "Using the arm, align the smooth blue cup for liquids over the flat surface gray wooden coaster",
+    "Slide the medium-sized plastic blue cup gently onto the small coaster with grain texture via the arm.",
+    "Position the medium blue cylindrical cup on the light gray round grainy coaster with the arm.",
+    "Stick the medium blue cylindrical cup onto the round coaster with light streaks using the arm.",
+    "Use the arm to put the cup with light blue color onto the round coaster with light streaks.",
+    "Use arm to place the blue rounded-bottom cup on the grainy texture coaster",
+    "Grab the plastic cup for drinks and place it over the wooden coaster.",
+    "Place the light blue plastic cup on top of the light gray round grainy coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Using the arm, slide the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the coaster with circular shape",
+    "Drop the smooth blue cup for liquids firmly on the light gray round grainy coaster using arm",
+    "Set the light blue plastic cup carefully onto the round coaster",
+    "Relocate the smooth blue drinking cup precisely onto the coaster with circular shape with arm",
+    "Set the medium blue cylindrical cup securely on the round coaster with light streaks using the arm.",
+    "Drop the smooth blue cup for liquids on top of the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray round grainy coaster.",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Stick the cup with light blue color onto the flat surface gray wooden coaster carefully.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster using the arm.",
+    "Carefully place the medium-sized plastic blue cup onto the wooden coaster without arm",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Stick the rounded base blue cup onto the round coaster using the arm",
+    "Move the cup with light blue color onto the light gray round grainy coaster with the arm",
+    "Grab the medium blue cylindrical cup, then place it onto the grainy texture coaster.",
+    "Position the cup for holding liquids carefully on the coaster with circular shape",
+    "Position the cylindrical light blue cup above and drop it on the round coaster with light streaks",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture and set it down.",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture.",
+    "Direct the smooth blue cup for liquids to the coaster with circular shape and let it rest.",
+    "Slide the cup with light blue color onto the flat surface gray wooden coaster",
+    "Set the cup for holding liquids on the light gray streaked wooden coaster using the arm.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster with light streaks",
+    "Move the medium blue cylindrical cup using the arm onto the flat round wooden coaster.",
+    "Grab the blue rounded-bottom cup and place it on the coaster made of smooth wood.",
+    "Position the smooth blue drinking cup squarely on top of the light gray round grainy coaster.",
+    "Set the cup for holding liquids down on the wooden coaster",
+    "Set the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the light blue plastic cup on the coaster with circular shape.",
+    "Make sure the medium-sized plastic blue cup ends up on the small coaster with grain texture.",
+    "Use the arm to position the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Grab the medium blue cylindrical cup and set it onto the light gray streaked wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Align the plastic cup for drinks and set it down on the smooth round palm-sized coaster",
+    "Lift the light blue plastic cup and place it over the grainy texture coaster",
+    "Slide the plastic cup for drinks onto the coaster with circular shape with the arm.",
+    "Use an arm to drop the light blue plastic cup on the coaster with circular shape",
+    "Lift the cup with smooth plastic surface and place it onto the grainy texture coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the wooden coaster",
+    "Slide the medium-sized plastic blue cup gently onto the round coaster via the arm.",
+    "Position the cup with light blue color on the light gray round grainy coaster with the arm.",
+    "Stick the cup for holding liquids onto the round coaster with light streaks using the arm.",
+    "Use the arm to put the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the round coaster with light streaks",
+    "Grab the medium-sized plastic blue cup and place it over the coaster made of smooth wood.",
+    "Place the medium blue cylindrical cup on top of the light gray round grainy coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode217.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth blue drinking cup up and drop it on the flat surface gray wooden coaster.",
+    "Make sure the light blue plastic cup ends up on the light gray streaked wooden coaster.",
+    "Use the arm to put the rounded base blue cup onto the light gray round grainy coaster.",
+    "Position the smooth blue drinking cup squarely on top of the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the grainy texture coaster with the arm",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster carefully.",
+    "Carefully place the medium-sized plastic blue cup onto the round coaster without arm",
+    "Set the smooth blue cup for liquids securely on the wooden coaster using the arm.",
+    "Grab the smooth blue drinking cup and place it over the small coaster with grain texture.",
+    "Grab the medium blue cylindrical cup and place it on the flat round wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Move the cylindrical light blue cup using the arm onto the round coaster with light streaks.",
+    "Lift the cup for holding liquids and place it over the light gray streaked wooden coaster",
+    "Align the smooth blue cup for liquids and set it down on the flat surface gray wooden coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Grab the cylindrical light blue cup and set it onto the grainy texture coaster.",
+    "Use the arm to set the smooth blue drinking cup on the round coaster",
+    "Set the medium-sized plastic blue cup on the flat round wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and place it onto the wooden coaster.",
+    "Slide the cup for holding liquids gently onto the flat round wooden coaster via the arm.",
+    "Position the cup with smooth plastic surface carefully on the small coaster with grain texture",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks using the arm",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape.",
+    "Position the rounded base blue cup on the light gray round grainy coaster with the arm.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster",
+    "Use the arm to slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Use an arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Move the cup for holding liquids to the flat round wooden coaster using the arm.",
+    "Drop the cup for holding liquids firmly on the round coaster using arm",
+    "Slide the cup for holding liquids onto the flat round wooden coaster with the arm.",
+    "Direct the smooth blue drinking cup to the small coaster with grain texture and let it rest.",
+    "Using the arm, slide the plastic cup for drinks onto the wooden coaster.",
+    "Set the smooth blue cup for liquids carefully onto the small coaster with grain texture",
+    "Position the smooth blue drinking cup above and drop it on the light gray streaked wooden coaster",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood and set it down.",
+    "Grab the cup for holding liquids, then place it onto the wooden coaster.",
+    "Grab the plastic cup for drinks and lower it onto the light gray streaked wooden coaster",
+    "Drop the rounded base blue cup on top of the grainy texture coaster.",
+    "Using the arm, align the rounded base blue cup over the coaster made of smooth wood",
+    "Relocate the cup with smooth plastic surface precisely onto the round coaster with light streaks with arm",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Place the cup with light blue color on top of the grainy texture coaster",
+    "Stick the light blue plastic cup onto the flat surface gray wooden coaster using the arm.",
+    "Set the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the round coaster with light streaks.",
+    "Make sure the cup for holding liquids ends up on the light gray round grainy coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the round coaster with the arm",
+    "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster carefully.",
+    "Carefully place the medium-sized plastic blue cup onto the flat surface gray wooden coaster without arm",
+    "Set the light blue plastic cup securely on the round coaster with light streaks using the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray round grainy coaster.",
+    "Grab the cup with light blue color and place it on the coaster with circular shape.",
+    "Using the arm, drop the light blue plastic cup onto the round coaster.",
+    "Use arm to place the cylindrical light blue cup on the grainy texture coaster",
+    "Move the plastic cup for drinks using the arm onto the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface and place it over the light gray streaked wooden coaster",
+    "Align the cup with smooth plastic surface and set it down on the flat round wooden coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks and stick it onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat round wooden coaster",
+    "Grab the plastic cup for drinks and set it onto the coaster made of smooth wood.",
+    "Use the arm to set the light blue plastic cup on the light gray round grainy coaster",
+    "Set the smooth blue drinking cup on the round coaster with light streaks using the arm.",
+    "Lift the rounded base blue cup and place it onto the grainy texture coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the coaster made of smooth wood via the arm.",
+    "Position the medium blue cylindrical cup carefully on the round coaster with light streaks",
+    "Stick the medium-sized plastic blue cup onto the grainy texture coaster using the arm",
+    "Use an arm to drop the rounded base blue cup on the round coaster.",
+    "Position the medium blue cylindrical cup on the light gray streaked wooden coaster with the arm.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the round coaster.",
+    "Use an arm to place the smooth blue drinking cup on the round coaster",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster using the arm.",
+    "Drop the plastic cup for drinks firmly on the wooden coaster using arm",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm.",
+    "Direct the cup for holding liquids to the small coaster with grain texture and let it rest.",
+    "Using the arm, slide the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Set the medium-sized plastic blue cup carefully onto the round coaster",
+    "Position the light blue plastic cup above and drop it on the grainy texture coaster",
+    "Move the smooth blue cup for liquids to the grainy texture coaster and set it down.",
+    "Grab the cylindrical light blue cup, then place it onto the grainy texture coaster.",
+    "Grab the cylindrical light blue cup and lower it onto the round coaster",
+    "Drop the cup for holding liquids on top of the light gray round grainy coaster.",
+    "Using the arm, align the medium-sized plastic blue cup over the grainy texture coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat round wooden coaster with arm",
+    "Slide the cylindrical light blue cup onto the wooden coaster",
+    "Set the blue rounded-bottom cup down on the wooden coaster",
+    "Place the rounded base blue cup on top of the flat surface gray wooden coaster",
+    "Stick the rounded base blue cup onto the flat round wooden coaster using the arm.",
+    "Set the medium-sized plastic blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Use the arm to position the cylindrical light blue cup on the wooden coaster.",
+    "Use the arm to position the smooth blue cup for liquids onto the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode237.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, align the cup with light blue color over the grainy texture coaster",
+    "Grab the cup with light blue color and place it on the light gray streaked wooden coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the wooden coaster.",
+    "Lift the cup with smooth plastic surface and stick it onto the small coaster with grain texture.",
+    "Use the arm to set the cup with light blue color on the light gray streaked wooden coaster",
+    "Position the light blue plastic cup on the wooden coaster with the arm.",
+    "Use the arm to put the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Carefully place the smooth blue drinking cup onto the flat round wooden coaster without arm",
+    "Position the medium-sized plastic blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the flat surface gray wooden coaster",
+    "Drop the medium blue cylindrical cup on top of the grainy texture coaster.",
+    "Use the arm to position the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Slide the plastic cup for drinks onto the coaster with circular shape",
+    "Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm.",
+    "Move the blue rounded-bottom cup using the arm onto the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup down on the round coaster with light streaks",
+    "Stick the cup for holding liquids onto the round coaster with light streaks using the arm.",
+    "Grab the cylindrical light blue cup and set it onto the wooden coaster.",
+    "Lift the plastic cup for drinks up and drop it on the light gray round grainy coaster.",
+    "Lift the smooth blue cup for liquids and place it over the round coaster",
+    "Move the rounded base blue cup to the small coaster with grain texture and set it down.",
+    "Set the medium-sized plastic blue cup securely on the flat round wooden coaster using the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the flat round wooden coaster.",
+    "Grab the rounded base blue cup and place it over the wooden coaster.",
+    "Move the cup with smooth plastic surface onto the round coaster with the arm",
+    "Set the cup for holding liquids carefully onto the grainy texture coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster carefully.",
+    "Grab the plastic cup for drinks and lower it onto the grainy texture coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue cup for liquids on the wooden coaster.",
+    "Using the arm, drop the medium blue cylindrical cup onto the round coaster.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm",
+    "Move the light blue plastic cup to the coaster made of smooth wood",
+    "Use the arm to position the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the grainy texture coaster.",
+    "Relocate the smooth blue cup for liquids precisely onto the coaster made of smooth wood with arm",
+    "Drop the cup with light blue color firmly on the flat round wooden coaster using arm",
+    "Position the smooth blue cup for liquids carefully on the small coaster with grain texture",
+    "Move the cup with light blue color to the light gray round grainy coaster using the arm.",
+    "Position the smooth blue cup for liquids above and drop it on the smooth round palm-sized coaster",
+    "Use an arm to place the cup with light blue color on the coaster made of smooth wood",
+    "Place the cup for holding liquids on top of the coaster made of smooth wood",
+    "Set the cup with smooth plastic surface onto the coaster with circular shape using the arm.",
+    "Align the blue rounded-bottom cup and set it down on the light gray streaked wooden coaster",
+    "Set the medium blue cylindrical cup on the light gray streaked wooden coaster using the arm.",
+    "Direct the plastic cup for drinks to the flat round wooden coaster and let it rest.",
+    "Slide the rounded base blue cup gently onto the round coaster with light streaks via the arm.",
+    "Lift the smooth blue drinking cup and place it onto the round coaster with light streaks.",
+    "Use arm to place the blue rounded-bottom cup on the grainy texture coaster",
+    "Using the arm, align the blue rounded-bottom cup over the smooth round palm-sized coaster",
+    "Grab the smooth blue drinking cup and place it on the smooth round palm-sized coaster.",
+    "Using the arm, slide the cup for holding liquids onto the round coaster.",
+    "Lift the rounded base blue cup and stick it onto the flat round wooden coaster.",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Position the blue rounded-bottom cup on the flat round wooden coaster with the arm.",
+    "Use the arm to put the light blue plastic cup onto the wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Position the rounded base blue cup squarely on top of the coaster with circular shape.",
+    "Use an arm to drop the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Drop the cylindrical light blue cup on top of the grainy texture coaster.",
+    "Use the arm to position the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Slide the medium blue cylindrical cup onto the coaster with circular shape",
+    "Slide the cup for holding liquids onto the coaster made of smooth wood with the arm.",
+    "Move the rounded base blue cup using the arm onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Stick the smooth blue cup for liquids onto the wooden coaster using the arm.",
+    "Grab the light blue plastic cup and set it onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the round coaster.",
+    "Lift the cup with light blue color and place it over the wooden coaster",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster and set it down.",
+    "Set the cylindrical light blue cup securely on the round coaster using the arm.",
+    "Make sure the cup with smooth plastic surface ends up on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and place it over the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup onto the round coaster with light streaks with the arm",
+    "Set the cup with light blue color carefully onto the grainy texture coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Pick the medium blue cylindrical cup up and drop it on the coaster with circular shape.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Using the arm, drop the smooth blue drinking cup onto the grainy texture coaster.",
+    "Stick the cup with light blue color onto the small coaster with grain texture using the arm",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup onto the round coaster.",
+    "Grab the smooth blue cup for liquids, then place it onto the small coaster with grain texture.",
+    "Relocate the blue rounded-bottom cup precisely onto the smooth round palm-sized coaster with arm",
+    "Drop the cup with smooth plastic surface firmly on the round coaster with light streaks using arm",
+    "Position the cup with smooth plastic surface carefully on the grainy texture coaster",
+    "Move the cup for holding liquids to the coaster made of smooth wood using the arm.",
+    "Position the rounded base blue cup above and drop it on the small coaster with grain texture",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster with light streaks",
+    "Place the plastic cup for drinks on top of the flat round wooden coaster",
+    "Set the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Align the cup with light blue color and set it down on the light gray streaked wooden coaster",
+    "Set the light blue plastic cup on the light gray round grainy coaster using the arm.",
+    "Direct the blue rounded-bottom cup to the flat surface gray wooden coaster and let it rest.",
+    "Slide the cup for holding liquids gently onto the coaster made of smooth wood via the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the small coaster with grain texture.",
+    "Use arm to place the blue rounded-bottom cup on the light gray round grainy coaster"
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode252.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the plastic cup for drinks firmly on the smooth round palm-sized coaster using arm",
+    "Use an arm to drop the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Grab the cup with light blue color and place it over the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Position the light blue plastic cup on the light gray streaked wooden coaster with the arm.",
+    "Carefully place the cylindrical light blue cup onto the light gray streaked wooden coaster without arm",
+    "Make sure the light blue plastic cup ends up on the flat round wooden coaster.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Position the medium blue cylindrical cup above and drop it on the smooth round palm-sized coaster",
+    "Move the plastic cup for drinks onto the smooth round palm-sized coaster with the arm",
+    "Slide the rounded base blue cup onto the grainy texture coaster",
+    "Grab the cup with light blue color and lower it onto the smooth round palm-sized coaster",
+    "Move the cylindrical light blue cup using the arm onto the coaster made of smooth wood.",
+    "Grab the light blue plastic cup, then place it onto the round coaster.",
+    "Using the arm, slide the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup and set it onto the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup carefully onto the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and place it on the flat round wooden coaster.",
+    "Set the smooth blue drinking cup securely on the light gray round grainy coaster using the arm.",
+    "Align the cup with light blue color and set it down on the small coaster with grain texture",
+    "Set the smooth blue drinking cup onto the flat round wooden coaster using the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use arm to place the cup with smooth plastic surface on the small coaster with grain texture",
+    "Lift the rounded base blue cup up and drop it on the flat round wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it over the grainy texture coaster",
+    "Use the arm to set the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Direct the medium-sized plastic blue cup to the flat round wooden coaster and let it rest.",
+    "Use an arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Position the cylindrical light blue cup carefully on the smooth round palm-sized coaster",
+    "Position the plastic cup for drinks squarely on top of the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup to the round coaster using the arm.",
+    "Slide the cylindrical light blue cup onto the light gray streaked wooden coaster with the arm.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape",
+    "Using the arm, align the cylindrical light blue cup over the light gray round grainy coaster",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Pick the cylindrical light blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the cup with light blue color on the grainy texture coaster using the arm.",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with arm",
+    "Use an arm to drop the light blue plastic cup on the smooth round palm-sized coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Use the arm to position the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the light blue plastic cup and place it onto the smooth round palm-sized coaster.",
+    "Stick the plastic cup for drinks onto the grainy texture coaster using the arm",
+    "Move the medium blue cylindrical cup to the grainy texture coaster and set it down.",
+    "Place the blue rounded-bottom cup on top of the flat round wooden coaster",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape carefully.",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Drop the rounded base blue cup firmly on the flat round wooden coaster using arm",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Grab the cup for holding liquids and place it over the light gray streaked wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the round coaster.",
+    "Position the light blue plastic cup on the flat surface gray wooden coaster with the arm.",
+    "Carefully place the plastic cup for drinks onto the round coaster with light streaks without arm",
+    "Make sure the smooth blue drinking cup ends up on the coaster made of smooth wood.",
+    "Stick the blue rounded-bottom cup onto the wooden coaster using the arm.",
+    "Position the light blue plastic cup above and drop it on the coaster with circular shape",
+    "Move the rounded base blue cup onto the round coaster with light streaks with the arm",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster",
+    "Grab the light blue plastic cup and lower it onto the round coaster",
+    "Move the rounded base blue cup using the arm onto the light gray streaked wooden coaster.",
+    "Grab the medium blue cylindrical cup, then place it onto the round coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Grab the cup with light blue color and set it onto the wooden coaster.",
+    "Set the medium blue cylindrical cup carefully onto the round coaster with light streaks",
+    "Grab the cylindrical light blue cup and place it on the round coaster.",
+    "Set the cup with light blue color securely on the flat surface gray wooden coaster using the arm.",
+    "Align the cup with light blue color and set it down on the small coaster with grain texture",
+    "Set the cup with smooth plastic surface onto the coaster with circular shape using the arm.",
+    "Using the arm, drop the cup for holding liquids onto the flat round wooden coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Use arm to place the rounded base blue cup on the small coaster with grain texture",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the smooth round palm-sized coaster",
+    "Use the arm to set the medium blue cylindrical cup on the round coaster",
+    "Direct the blue rounded-bottom cup to the round coaster and let it rest.",
+    "Use an arm to place the blue rounded-bottom cup on the round coaster",
+    "Position the cylindrical light blue cup carefully on the round coaster",
+    "Position the cylindrical light blue cup squarely on top of the light gray round grainy coaster.",
+    "Move the plastic cup for drinks to the round coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the coaster made of smooth wood with the arm.",
+    "Lift the cup for holding liquids and stick it onto the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood",
+    "Using the arm, align the cup for holding liquids over the coaster with circular shape",
+    "Set the medium-sized plastic blue cup down on the round coaster",
+    "Pick the cup for holding liquids up and drop it on the round coaster.",
+    "Set the cylindrical light blue cup on the coaster made of smooth wood using the arm.",
+    "Drop the cup for holding liquids on top of the flat surface gray wooden coaster.",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Use an arm to drop the smooth blue cup for liquids on the round coaster with light streaks",
+    "Use the arm to slide the smooth blue drinking cup onto the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup and place it onto the round coaster.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster using the arm",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down.",
+    "Place the cup for holding liquids on top of the round coaster",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape carefully.",
+    "Slide the medium-sized plastic blue cup gently onto the light gray streaked wooden coaster via the arm."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode260.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the smooth blue cup for liquids on the flat round wooden coaster using the arm.",
+    "Slide the light blue plastic cup onto the round coaster with light streaks with the arm.",
+    "Lift the light blue plastic cup and stick it onto the grainy texture coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Carefully place the cup with smooth plastic surface onto the flat round wooden coaster without arm",
+    "Use arm to place the light blue plastic cup on the round coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids and place it on the small coaster with grain texture.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Drop the cup with light blue color firmly on the light gray round grainy coaster using arm",
+    "Use an arm to drop the plastic cup for drinks on the grainy texture coaster",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster using the arm.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood carefully.",
+    "Move the smooth blue cup for liquids to the light gray round grainy coaster",
+    "Set the cylindrical light blue cup down on the flat round wooden coaster",
+    "Slide the rounded base blue cup gently onto the round coaster with light streaks via the arm.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Using the arm, align the cylindrical light blue cup over the smooth round palm-sized coaster",
+    "Position the cup with smooth plastic surface squarely on top of the small coaster with grain texture.",
+    "Direct the medium blue cylindrical cup to the smooth round palm-sized coaster and let it rest.",
+    "Set the smooth blue drinking cup securely on the flat surface gray wooden coaster using the arm.",
+    "Position the cylindrical light blue cup on the flat surface gray wooden coaster with the arm.",
+    "Set the cup with light blue color carefully onto the wooden coaster",
+    "Slide the rounded base blue cup onto the round coaster",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster and set it down.",
+    "Position the cup for holding liquids carefully on the coaster with circular shape",
+    "Lift the cylindrical light blue cup and place it over the small coaster with grain texture",
+    "Align the light blue plastic cup and set it down on the round coaster with light streaks",
+    "Use an arm to place the light blue plastic cup on the small coaster with grain texture",
+    "Set the medium-sized plastic blue cup onto the wooden coaster using the arm.",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Pick the smooth blue drinking cup up and drop it on the round coaster with light streaks.",
+    "Use the arm to position the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use the arm to put the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Use the arm to slide the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Use the arm to set the cylindrical light blue cup on the grainy texture coaster",
+    "Grab the rounded base blue cup and lower it onto the flat round wooden coaster",
+    "Grab the cup for holding liquids and set it onto the grainy texture coaster.",
+    "Using the arm, slide the cup with light blue color onto the coaster made of smooth wood.",
+    "Use the arm to position the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Move the cylindrical light blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Position the medium blue cylindrical cup above and drop it on the wooden coaster",
+    "Lift the smooth blue drinking cup and place it onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Relocate the rounded base blue cup precisely onto the round coaster with arm",
+    "Grab the cup with smooth plastic surface and place it over the round coaster with light streaks.",
+    "Drop the medium-sized plastic blue cup on top of the flat surface gray wooden coaster.",
+    "Place the medium blue cylindrical cup on top of the round coaster",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Set the cup with light blue color on the small coaster with grain texture using the arm.",
+    "Slide the cup with light blue color onto the round coaster with light streaks with the arm.",
+    "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Carefully place the light blue plastic cup onto the light gray round grainy coaster without arm",
+    "Use arm to place the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Lift the cup with smooth plastic surface up and drop it on the round coaster with light streaks.",
+    "Grab the smooth blue cup for liquids and place it on the round coaster with light streaks.",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm",
+    "Make sure the cup with smooth plastic surface ends up on the coaster with circular shape.",
+    "Drop the light blue plastic cup firmly on the flat surface gray wooden coaster using arm",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape",
+    "Move the smooth blue cup for liquids to the coaster with circular shape using the arm.",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape carefully.",
+    "Move the medium-sized plastic blue cup to the small coaster with grain texture",
+    "Set the rounded base blue cup down on the light gray round grainy coaster",
+    "Slide the smooth blue drinking cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Grab the cup with light blue color, then place it onto the grainy texture coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the coaster made of smooth wood",
+    "Position the blue rounded-bottom cup squarely on top of the light gray round grainy coaster.",
+    "Direct the cup with light blue color to the small coaster with grain texture and let it rest.",
+    "Set the blue rounded-bottom cup securely on the small coaster with grain texture using the arm.",
+    "Position the smooth blue cup for liquids on the small coaster with grain texture with the arm.",
+    "Set the smooth blue drinking cup carefully onto the flat round wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the flat round wooden coaster",
+    "Move the cup for holding liquids to the light gray round grainy coaster and set it down.",
+    "Position the cylindrical light blue cup carefully on the grainy texture coaster",
+    "Lift the plastic cup for drinks and place it over the small coaster with grain texture",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Use an arm to place the cup for holding liquids on the coaster with circular shape",
+    "Set the cup with light blue color onto the smooth round palm-sized coaster using the arm.",
+    "Stick the light blue plastic cup onto the flat round wooden coaster using the arm.",
+    "Pick the cup for holding liquids up and drop it on the wooden coaster.",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the grainy texture coaster.",
+    "Use the arm to set the smooth blue drinking cup on the grainy texture coaster",
+    "Grab the medium-sized plastic blue cup and lower it onto the light gray round grainy coaster",
+    "Grab the medium-sized plastic blue cup and set it onto the round coaster with light streaks.",
+    "Using the arm, slide the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use the arm to position the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the smooth round palm-sized coaster.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Lift the cylindrical light blue cup and place it onto the wooden coaster.",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Relocate the blue rounded-bottom cup precisely onto the grainy texture coaster with arm",
+    "Grab the plastic cup for drinks and place it over the light gray streaked wooden coaster.",
+    "Drop the plastic cup for drinks on top of the round coaster.",
+    "Place the medium blue cylindrical cup on top of the coaster with circular shape",
+    "Move the smooth blue drinking cup onto the smooth round palm-sized coaster with the arm"
+  ],
+  "unseen": [
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode283.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded base blue cup up and drop it on the flat round wooden coaster.",
+    "Grab the light blue plastic cup and lower it onto the round coaster with light streaks",
+    "Lift the medium-sized plastic blue cup up and drop it on the coaster with circular shape.",
+    "Slide the light blue plastic cup onto the grainy texture coaster",
+    "Set the cup with light blue color carefully onto the smooth round palm-sized coaster",
+    "Use the arm to position the cup for holding liquids onto the coaster made of smooth wood.",
+    "Position the light blue plastic cup above and drop it on the coaster with circular shape",
+    "Grab the blue rounded-bottom cup, then place it onto the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids to the grainy texture coaster using the arm.",
+    "Set the light blue plastic cup on the round coaster using the arm.",
+    "Make sure the plastic cup for drinks ends up on the round coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the coaster with circular shape using arm",
+    "Set the cup with smooth plastic surface down on the wooden coaster",
+    "Lift the plastic cup for drinks and place it onto the grainy texture coaster.",
+    "Position the smooth blue cup for liquids carefully on the light gray streaked wooden coaster",
+    "Use the arm to put the cylindrical light blue cup onto the grainy texture coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the small coaster with grain texture.",
+    "Move the smooth blue cup for liquids to the wooden coaster",
+    "Grab the blue rounded-bottom cup and set it onto the flat round wooden coaster.",
+    "Relocate the plastic cup for drinks precisely onto the light gray round grainy coaster with arm",
+    "Slide the medium-sized plastic blue cup onto the round coaster with the arm.",
+    "Slide the cup with smooth plastic surface gently onto the coaster made of smooth wood via the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster with light streaks",
+    "Direct the cup with smooth plastic surface to the wooden coaster and let it rest.",
+    "Use the arm to set the cup with light blue color on the light gray round grainy coaster",
+    "Using the arm, align the rounded base blue cup over the round coaster with light streaks",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster carefully.",
+    "Grab the cylindrical light blue cup and place it over the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup securely on the flat surface gray wooden coaster using the arm.",
+    "Place the smooth blue drinking cup on top of the wooden coaster",
+    "Drop the smooth blue drinking cup on top of the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color and place it on the coaster made of smooth wood.",
+    "Use an arm to drop the medium blue cylindrical cup on the wooden coaster.",
+    "Stick the cup with light blue color onto the round coaster with light streaks using the arm",
+    "Use an arm to place the cup for holding liquids on the coaster made of smooth wood",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster and set it down.",
+    "Carefully place the cup for holding liquids onto the small coaster with grain texture without arm",
+    "Set the cup for holding liquids onto the flat round wooden coaster using the arm.",
+    "Move the smooth blue drinking cup using the arm onto the grainy texture coaster.",
+    "Use the arm to slide the cup with light blue color onto the flat round wooden coaster.",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Stick the rounded base blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Position the smooth blue cup for liquids on the coaster made of smooth wood with the arm.",
+    "Use arm to place the blue rounded-bottom cup on the flat round wooden coaster",
+    "Lift the cylindrical light blue cup and stick it onto the small coaster with grain texture.",
+    "Lift the cup with light blue color and place it over the grainy texture coaster",
+    "Using the arm, drop the plastic cup for drinks onto the flat round wooden coaster.",
+    "Align the plastic cup for drinks and set it down on the coaster with circular shape",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood with the arm",
+    "Use the arm to position the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Pick the medium-sized plastic blue cup up and drop it on the coaster with circular shape.",
+    "Grab the cup with light blue color and lower it onto the grainy texture coaster",
+    "Lift the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster",
+    "Set the smooth blue cup for liquids carefully onto the round coaster with light streaks",
+    "Use the arm to position the light blue plastic cup onto the light gray round grainy coaster.",
+    "Position the rounded base blue cup above and drop it on the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup, then place it onto the round coaster.",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood using the arm.",
+    "Set the light blue plastic cup on the coaster with circular shape using the arm.",
+    "Make sure the plastic cup for drinks ends up on the grainy texture coaster.",
+    "Drop the cup for holding liquids firmly on the light gray round grainy coaster using arm",
+    "Set the smooth blue drinking cup down on the light gray streaked wooden coaster",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster.",
+    "Position the light blue plastic cup carefully on the smooth round palm-sized coaster",
+    "Use the arm to put the cup with light blue color onto the light gray round grainy coaster.",
+    "Position the light blue plastic cup squarely on top of the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster",
+    "Grab the cup for holding liquids and set it onto the round coaster with light streaks.",
+    "Relocate the blue rounded-bottom cup precisely onto the wooden coaster with arm",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster with the arm.",
+    "Slide the rounded base blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster",
+    "Direct the cup with smooth plastic surface to the grainy texture coaster and let it rest.",
+    "Use the arm to set the light blue plastic cup on the wooden coaster",
+    "Using the arm, align the medium blue cylindrical cup over the smooth round palm-sized coaster",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Grab the light blue plastic cup and place it over the grainy texture coaster.",
+    "Set the blue rounded-bottom cup securely on the wooden coaster using the arm.",
+    "Place the medium blue cylindrical cup on top of the round coaster",
+    "Drop the smooth blue drinking cup on top of the wooden coaster.",
+    "Grab the plastic cup for drinks and place it on the round coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Stick the smooth blue drinking cup onto the flat round wooden coaster using the arm",
+    "Use an arm to place the cylindrical light blue cup on the small coaster with grain texture",
+    "Move the cup with light blue color to the smooth round palm-sized coaster and set it down.",
+    "Carefully place the cup with light blue color onto the wooden coaster without arm",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the round coaster with light streaks.",
+    "Use the arm to slide the rounded base blue cup onto the coaster with circular shape.",
+    "Using the arm, slide the cylindrical light blue cup onto the round coaster.",
+    "Stick the smooth blue cup for liquids onto the coaster made of smooth wood using the arm.",
+    "Position the light blue plastic cup on the flat surface gray wooden coaster with the arm.",
+    "Use arm to place the rounded base blue cup on the round coaster with light streaks",
+    "Lift the cylindrical light blue cup and stick it onto the coaster with circular shape.",
+    "Lift the cylindrical light blue cup and place it over the light gray streaked wooden coaster",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Align the blue rounded-bottom cup and set it down on the light gray streaked wooden coaster",
+    "Move the cup with light blue color onto the grainy texture coaster with the arm",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode290.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the medium-sized plastic blue cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Relocate the cup with light blue color precisely onto the light gray round grainy coaster with arm",
+    "Use the arm to position the cylindrical light blue cup onto the round coaster.",
+    "Use an arm to drop the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Use the arm to put the cup for holding liquids onto the round coaster.",
+    "Set the cup with smooth plastic surface on the flat surface gray wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the round coaster with light streaks",
+    "Use an arm to place the cup for holding liquids on the coaster with circular shape",
+    "Grab the smooth blue cup for liquids and lower it onto the round coaster with light streaks",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster using the arm.",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture",
+    "Set the plastic cup for drinks securely on the coaster made of smooth wood using the arm.",
+    "Move the smooth blue cup for liquids using the arm onto the coaster made of smooth wood.",
+    "Position the cup with smooth plastic surface on the flat surface gray wooden coaster with the arm.",
+    "Using the arm, align the plastic cup for drinks over the wooden coaster",
+    "Grab the rounded base blue cup and place it on the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup and place it onto the grainy texture coaster.",
+    "Drop the smooth blue drinking cup on top of the coaster with circular shape.",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster using the arm.",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm",
+    "Grab the cup for holding liquids, then place it onto the coaster made of smooth wood.",
+    "Set the light blue plastic cup carefully onto the light gray round grainy coaster",
+    "Position the rounded base blue cup squarely on top of the round coaster with light streaks.",
+    "Use an arm to drop the cup for holding liquids on the grainy texture coaster",
+    "Use the arm to set the rounded base blue cup on the grainy texture coaster",
+    "Direct the plastic cup for drinks to the flat surface gray wooden coaster and let it rest.",
+    "Move the plastic cup for drinks to the coaster made of smooth wood",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster and set it down.",
+    "Position the cylindrical light blue cup above and drop it on the smooth round palm-sized coaster",
+    "Lift the medium-sized plastic blue cup and place it over the grainy texture coaster",
+    "Grab the blue rounded-bottom cup and place it over the grainy texture coaster.",
+    "Grab the plastic cup for drinks and set it onto the light gray streaked wooden coaster.",
+    "Slide the plastic cup for drinks onto the coaster with circular shape with the arm.",
+    "Make sure the cup for holding liquids ends up on the small coaster with grain texture.",
+    "Use the arm to position the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Carefully place the light blue plastic cup onto the flat round wooden coaster without arm",
+    "Drop the light blue plastic cup firmly on the light gray streaked wooden coaster using arm",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster carefully.",
+    "Lift the smooth blue cup for liquids up and drop it on the round coaster with light streaks.",
+    "Position the rounded base blue cup carefully on the wooden coaster",
+    "Use the arm to slide the light blue plastic cup onto the coaster with circular shape.",
+    "Using the arm, slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids and stick it onto the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks with the arm",
+    "Set the rounded base blue cup down on the coaster made of smooth wood",
+    "Align the medium blue cylindrical cup and set it down on the light gray round grainy coaster",
+    "Set the smooth blue cup for liquids onto the small coaster with grain texture using the arm.",
+    "Use arm to place the cylindrical light blue cup on the round coaster with light streaks",
+    "Slide the smooth blue drinking cup gently onto the round coaster with light streaks via the arm.",
+    "Relocate the cylindrical light blue cup precisely onto the coaster made of smooth wood with arm",
+    "Use the arm to position the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Use an arm to drop the plastic cup for drinks on the wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the flat round wooden coaster.",
+    "Set the cup with light blue color on the light gray round grainy coaster using the arm.",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster",
+    "Use an arm to place the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Grab the blue rounded-bottom cup and lower it onto the flat round wooden coaster",
+    "Stick the light blue plastic cup onto the light gray streaked wooden coaster using the arm.",
+    "Place the smooth blue drinking cup on top of the light gray streaked wooden coaster",
+    "Set the medium blue cylindrical cup securely on the small coaster with grain texture using the arm.",
+    "Move the cup with smooth plastic surface using the arm onto the light gray round grainy coaster.",
+    "Position the medium blue cylindrical cup on the coaster made of smooth wood with the arm.",
+    "Using the arm, align the cup with smooth plastic surface over the light gray streaked wooden coaster",
+    "Grab the smooth blue drinking cup and place it on the flat round wooden coaster.",
+    "Lift the cup with light blue color and place it onto the round coaster.",
+    "Drop the blue rounded-bottom cup on top of the coaster with circular shape.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster using the arm.",
+    "Stick the rounded base blue cup onto the grainy texture coaster using the arm",
+    "Grab the smooth blue drinking cup, then place it onto the flat surface gray wooden coaster.",
+    "Set the rounded base blue cup carefully onto the round coaster",
+    "Position the medium blue cylindrical cup squarely on top of the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster",
+    "Use the arm to set the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Direct the smooth blue drinking cup to the small coaster with grain texture and let it rest.",
+    "Move the cup with light blue color to the grainy texture coaster",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood and set it down.",
+    "Position the plastic cup for drinks above and drop it on the round coaster with light streaks",
+    "Lift the cup with smooth plastic surface and place it over the flat surface gray wooden coaster",
+    "Grab the cup for holding liquids and place it over the round coaster with light streaks.",
+    "Grab the smooth blue cup for liquids and set it onto the light gray round grainy coaster.",
+    "Slide the medium blue cylindrical cup onto the small coaster with grain texture with the arm.",
+    "Make sure the light blue plastic cup ends up on the smooth round palm-sized coaster.",
+    "Use the arm to position the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Carefully place the blue rounded-bottom cup onto the wooden coaster without arm",
+    "Drop the cup with light blue color firmly on the round coaster with light streaks using arm",
+    "Stick the smooth blue drinking cup onto the coaster made of smooth wood carefully.",
+    "Lift the cup for holding liquids up and drop it on the smooth round palm-sized coaster.",
+    "Position the plastic cup for drinks carefully on the flat surface gray wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the wooden coaster.",
+    "Using the arm, slide the cup with light blue color onto the small coaster with grain texture.",
+    "Pick the plastic cup for drinks up and drop it on the coaster with circular shape.",
+    "Lift the plastic cup for drinks and stick it onto the coaster with circular shape.",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood with the arm",
+    "Set the cup for holding liquids down on the wooden coaster",
+    "Align the cup with smooth plastic surface and set it down on the wooden coaster",
+    "Set the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Use arm to place the smooth blue cup for liquids on the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode294.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the cylindrical light blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to set the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Use an arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Move the cup with light blue color to the smooth round palm-sized coaster using the arm.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster",
+    "Position the cup with light blue color above and drop it on the grainy texture coaster",
+    "Set the smooth blue drinking cup onto the wooden coaster using the arm.",
+    "Using the arm, drop the plastic cup for drinks onto the small coaster with grain texture.",
+    "Lift the light blue plastic cup and place it over the coaster made of smooth wood",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture",
+    "Grab the medium blue cylindrical cup and set it onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup and lower it onto the round coaster",
+    "Grab the cup with light blue color and place it on the round coaster with light streaks.",
+    "Use the arm to put the light blue plastic cup onto the grainy texture coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the light blue plastic cup onto the wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the coaster with circular shape.",
+    "Set the medium-sized plastic blue cup on the wooden coaster using the arm.",
+    "Set the plastic cup for drinks carefully onto the grainy texture coaster",
+    "Set the plastic cup for drinks down on the smooth round palm-sized coaster",
+    "Carefully place the cup with light blue color onto the round coaster with light streaks without arm",
+    "Align the medium-sized plastic blue cup and set it down on the small coaster with grain texture",
+    "Grab the cup with smooth plastic surface, then place it onto the flat round wooden coaster.",
+    "Lift the cup for holding liquids and place it onto the round coaster with light streaks.",
+    "Slide the smooth blue cup for liquids gently onto the grainy texture coaster via the arm.",
+    "Position the light blue plastic cup on the light gray round grainy coaster with the arm.",
+    "Slide the blue rounded-bottom cup onto the grainy texture coaster",
+    "Use arm to place the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Pick the light blue plastic cup up and drop it on the light gray streaked wooden coaster.",
+    "Stick the cup for holding liquids onto the small coaster with grain texture carefully.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Position the cup with light blue color squarely on top of the light gray streaked wooden coaster.",
+    "Direct the rounded base blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Lift the cup with light blue color up and drop it on the coaster made of smooth wood.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks with the arm",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm",
+    "Move the cup for holding liquids using the arm onto the round coaster with light streaks.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the round coaster with light streaks.",
+    "Relocate the smooth blue drinking cup precisely onto the flat round wooden coaster with arm",
+    "Lift the cup for holding liquids and stick it onto the round coaster with light streaks.",
+    "Position the medium-sized plastic blue cup carefully on the flat round wooden coaster",
+    "Move the cup with light blue color to the coaster with circular shape and set it down.",
+    "Using the arm, align the plastic cup for drinks over the round coaster with light streaks",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster.",
+    "Make sure the rounded base blue cup ends up on the round coaster with light streaks.",
+    "Use the arm to position the rounded base blue cup on the grainy texture coaster.",
+    "Place the smooth blue cup for liquids on top of the round coaster with light streaks",
+    "Slide the smooth blue drinking cup onto the smooth round palm-sized coaster with the arm.",
+    "Set the cylindrical light blue cup securely on the coaster with circular shape using the arm.",
+    "Drop the cup with smooth plastic surface firmly on the coaster with circular shape using arm",
+    "Use the arm to set the cup for holding liquids on the round coaster",
+    "Use an arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Move the light blue plastic cup to the light gray round grainy coaster using the arm.",
+    "Move the rounded base blue cup to the round coaster",
+    "Position the blue rounded-bottom cup above and drop it on the flat surface gray wooden coaster",
+    "Set the light blue plastic cup onto the coaster with circular shape using the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Lift the cup for holding liquids and place it over the flat round wooden coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the light gray round grainy coaster",
+    "Grab the cup with light blue color and set it onto the round coaster with light streaks.",
+    "Grab the cup for holding liquids and lower it onto the flat surface gray wooden coaster",
+    "Grab the cup with smooth plastic surface and place it on the coaster with circular shape.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Use the arm to position the rounded base blue cup onto the round coaster.",
+    "Using the arm, slide the plastic cup for drinks onto the grainy texture coaster.",
+    "Drop the medium-sized plastic blue cup on top of the flat round wooden coaster.",
+    "Set the blue rounded-bottom cup on the coaster made of smooth wood using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the grainy texture coaster",
+    "Set the cup with smooth plastic surface down on the grainy texture coaster",
+    "Carefully place the smooth blue cup for liquids onto the wooden coaster without arm",
+    "Align the blue rounded-bottom cup and set it down on the round coaster with light streaks",
+    "Grab the medium-sized plastic blue cup, then place it onto the flat round wooden coaster.",
+    "Lift the cylindrical light blue cup and place it onto the flat round wooden coaster.",
+    "Slide the medium-sized plastic blue cup gently onto the coaster with circular shape via the arm.",
+    "Position the rounded base blue cup on the wooden coaster with the arm.",
+    "Slide the cylindrical light blue cup onto the round coaster",
+    "Use arm to place the cylindrical light blue cup on the light gray round grainy coaster",
+    "Pick the plastic cup for drinks up and drop it on the grainy texture coaster.",
+    "Stick the medium blue cylindrical cup onto the coaster with circular shape carefully.",
+    "Use an arm to drop the plastic cup for drinks on the round coaster.",
+    "Position the light blue plastic cup squarely on top of the round coaster with light streaks.",
+    "Direct the smooth blue drinking cup to the light gray streaked wooden coaster and let it rest.",
+    "Lift the smooth blue drinking cup up and drop it on the grainy texture coaster.",
+    "Move the plastic cup for drinks onto the grainy texture coaster with the arm",
+    "Stick the rounded base blue cup onto the round coaster using the arm",
+    "Move the plastic cup for drinks using the arm onto the grainy texture coaster.",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to slide the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Relocate the smooth blue cup for liquids precisely onto the flat round wooden coaster with arm",
+    "Lift the cup with smooth plastic surface and stick it onto the light gray round grainy coaster.",
+    "Position the light blue plastic cup carefully on the flat surface gray wooden coaster",
+    "Move the rounded base blue cup to the round coaster with light streaks and set it down.",
+    "Using the arm, align the smooth blue drinking cup over the smooth round palm-sized coaster",
+    "Grab the medium-sized plastic blue cup and place it over the small coaster with grain texture.",
+    "Make sure the smooth blue drinking cup ends up on the grainy texture coaster.",
+    "Use the arm to position the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Place the cup for holding liquids on top of the light gray streaked wooden coaster",
+    "Slide the cup for holding liquids onto the light gray round grainy coaster with the arm.",
+    "Set the rounded base blue cup securely on the round coaster with light streaks using the arm."
+  ],
+  "unseen": [
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode299.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the light blue plastic cup and lower it onto the round coaster",
+    "Carefully place the plastic cup for drinks onto the round coaster with light streaks without arm",
+    "Lift the medium blue cylindrical cup up and drop it on the round coaster.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm",
+    "Use an arm to drop the rounded base blue cup on the wooden coaster.",
+    "Place the medium-sized plastic blue cup on top of the coaster with circular shape",
+    "Set the rounded base blue cup down on the flat surface gray wooden coaster",
+    "Slide the cup with light blue color onto the small coaster with grain texture with the arm.",
+    "Position the rounded base blue cup above and drop it on the round coaster",
+    "Drop the blue rounded-bottom cup on top of the small coaster with grain texture.",
+    "Use the arm to slide the rounded base blue cup onto the grainy texture coaster.",
+    "Use an arm to place the smooth blue cup for liquids on the round coaster",
+    "Lift the cup with smooth plastic surface and place it over the round coaster",
+    "Use arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Relocate the blue rounded-bottom cup precisely onto the smooth round palm-sized coaster with arm",
+    "Grab the blue rounded-bottom cup and set it onto the flat surface gray wooden coaster.",
+    "Grab the rounded base blue cup, then place it onto the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Slide the rounded base blue cup onto the coaster with circular shape",
+    "Move the smooth blue drinking cup onto the round coaster with the arm",
+    "Position the rounded base blue cup squarely on top of the grainy texture coaster.",
+    "Lift the cup with light blue color and place it onto the flat surface gray wooden coaster.",
+    "Make sure the cylindrical light blue cup ends up on the small coaster with grain texture.",
+    "Stick the smooth blue drinking cup onto the flat surface gray wooden coaster carefully.",
+    "Set the blue rounded-bottom cup securely on the wooden coaster using the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the smooth round palm-sized coaster",
+    "Align the smooth blue drinking cup and set it down on the coaster made of smooth wood",
+    "Using the arm, align the rounded base blue cup over the round coaster",
+    "Pick the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the coaster with circular shape via the arm.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks and set it down.",
+    "Set the smooth blue cup for liquids onto the coaster made of smooth wood using the arm.",
+    "Set the smooth blue drinking cup carefully onto the light gray round grainy coaster",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm.",
+    "Drop the cup for holding liquids firmly on the light gray round grainy coaster using arm",
+    "Lift the cup for holding liquids and stick it onto the coaster made of smooth wood.",
+    "Using the arm, drop the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Use the arm to set the cup for holding liquids on the smooth round palm-sized coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the wooden coaster.",
+    "Move the blue rounded-bottom cup to the round coaster",
+    "Direct the smooth blue drinking cup to the small coaster with grain texture and let it rest.",
+    "Position the smooth blue drinking cup carefully on the round coaster with light streaks",
+    "Set the smooth blue drinking cup on the coaster made of smooth wood using the arm.",
+    "Use the arm to put the cup for holding liquids onto the coaster made of smooth wood.",
+    "Position the cup with smooth plastic surface on the light gray streaked wooden coaster with the arm.",
+    "Move the cup for holding liquids using the arm onto the coaster made of smooth wood.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Use the arm to position the rounded base blue cup on the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup and place it on the grainy texture coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster using the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the coaster made of smooth wood",
+    "Carefully place the cylindrical light blue cup onto the grainy texture coaster without arm",
+    "Lift the rounded base blue cup up and drop it on the coaster made of smooth wood.",
+    "Stick the cup with smooth plastic surface onto the round coaster using the arm",
+    "Use an arm to drop the rounded base blue cup on the round coaster.",
+    "Place the smooth blue cup for liquids on top of the light gray streaked wooden coaster",
+    "Set the cup with light blue color down on the flat round wooden coaster",
+    "Slide the smooth blue cup for liquids onto the small coaster with grain texture with the arm.",
+    "Position the plastic cup for drinks above and drop it on the coaster made of smooth wood",
+    "Drop the plastic cup for drinks on top of the wooden coaster.",
+    "Use the arm to slide the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Use an arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Lift the smooth blue cup for liquids and place it over the light gray streaked wooden coaster",
+    "Use arm to place the smooth blue cup for liquids on the smooth round palm-sized coaster",
+    "Relocate the cylindrical light blue cup precisely onto the light gray round grainy coaster with arm",
+    "Grab the cup for holding liquids and set it onto the small coaster with grain texture.",
+    "Grab the cup for holding liquids, then place it onto the coaster made of smooth wood.",
+    "Use the arm to position the rounded base blue cup onto the coaster with circular shape.",
+    "Slide the cup for holding liquids onto the small coaster with grain texture",
+    "Move the rounded base blue cup onto the round coaster with the arm",
+    "Position the smooth blue cup for liquids squarely on top of the light gray streaked wooden coaster.",
+    "Lift the cup for holding liquids and place it onto the grainy texture coaster.",
+    "Make sure the medium-sized plastic blue cup ends up on the coaster made of smooth wood.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Set the light blue plastic cup securely on the flat surface gray wooden coaster using the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Align the cup with smooth plastic surface and set it down on the flat round wooden coaster",
+    "Using the arm, align the smooth blue drinking cup over the flat surface gray wooden coaster",
+    "Pick the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Slide the blue rounded-bottom cup gently onto the light gray round grainy coaster via the arm.",
+    "Move the cup with light blue color to the round coaster with light streaks and set it down.",
+    "Set the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Set the cup for holding liquids carefully onto the round coaster with light streaks",
+    "Stick the cup for holding liquids onto the small coaster with grain texture using the arm.",
+    "Drop the cylindrical light blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Lift the plastic cup for drinks and stick it onto the round coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the round coaster with light streaks",
+    "Using the arm, slide the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster",
+    "Direct the medium-sized plastic blue cup to the coaster with circular shape and let it rest.",
+    "Position the cylindrical light blue cup carefully on the coaster made of smooth wood",
+    "Set the smooth blue cup for liquids on the flat round wooden coaster using the arm.",
+    "Use the arm to put the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Position the cup for holding liquids on the round coaster with the arm.",
+    "Move the cylindrical light blue cup using the arm onto the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup and place it over the coaster made of smooth wood.",
+    "Use the arm to position the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color and place it on the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster using the arm."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode317.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium-sized plastic blue cup up and drop it on the small coaster with grain texture.",
+    "Lift the smooth blue drinking cup and stick it onto the smooth round palm-sized coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the flat surface gray wooden coaster",
+    "Grab the cylindrical light blue cup and set it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Set the cup for holding liquids carefully onto the grainy texture coaster",
+    "Use the arm to position the smooth blue drinking cup onto the coaster with circular shape.",
+    "Slide the smooth blue cup for liquids gently onto the round coaster via the arm.",
+    "Drop the rounded base blue cup firmly on the smooth round palm-sized coaster using arm",
+    "Using the arm, drop the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Using the arm, slide the rounded base blue cup onto the light gray round grainy coaster.",
+    "Set the light blue plastic cup down on the smooth round palm-sized coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster with light streaks",
+    "Move the cylindrical light blue cup to the coaster with circular shape",
+    "Stick the cup for holding liquids onto the round coaster using the arm.",
+    "Lift the light blue plastic cup and place it over the small coaster with grain texture",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster and set it down.",
+    "Position the cylindrical light blue cup carefully on the wooden coaster",
+    "Make sure the blue rounded-bottom cup ends up on the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup onto the flat round wooden coaster using the arm.",
+    "Use the arm to set the cup with light blue color on the flat surface gray wooden coaster",
+    "Grab the rounded base blue cup, then place it onto the coaster made of smooth wood.",
+    "Carefully place the rounded base blue cup onto the small coaster with grain texture without arm",
+    "Position the cup with smooth plastic surface on the flat round wooden coaster with the arm.",
+    "Set the cup for holding liquids on the grainy texture coaster using the arm.",
+    "Use the arm to position the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Move the cup with light blue color to the light gray streaked wooden coaster using the arm.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster.",
+    "Direct the blue rounded-bottom cup to the round coaster and let it rest.",
+    "Relocate the cup for holding liquids precisely onto the coaster made of smooth wood with arm",
+    "Grab the smooth blue cup for liquids and place it over the light gray streaked wooden coaster.",
+    "Use the arm to slide the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup using the arm onto the coaster made of smooth wood.",
+    "Place the smooth blue drinking cup on top of the light gray round grainy coaster",
+    "Use an arm to drop the cylindrical light blue cup on the flat round wooden coaster.",
+    "Align the rounded base blue cup and set it down on the coaster with circular shape",
+    "Grab the rounded base blue cup and place it on the grainy texture coaster.",
+    "Stick the cup for holding liquids onto the small coaster with grain texture carefully.",
+    "Use arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Set the plastic cup for drinks securely on the flat round wooden coaster using the arm.",
+    "Position the cup with light blue color squarely on top of the light gray streaked wooden coaster.",
+    "Move the plastic cup for drinks onto the round coaster with light streaks with the arm",
+    "Drop the medium-sized plastic blue cup on top of the round coaster.",
+    "Using the arm, align the cup for holding liquids over the round coaster",
+    "Stick the smooth blue drinking cup onto the flat round wooden coaster using the arm",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster",
+    "Slide the plastic cup for drinks onto the wooden coaster with the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the flat round wooden coaster",
+    "Pick the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Lift the cup for holding liquids and stick it onto the smooth round palm-sized coaster.",
+    "Position the rounded base blue cup above and drop it on the grainy texture coaster",
+    "Grab the light blue plastic cup and set it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the rounded base blue cup on the light gray streaked wooden coaster",
+    "Set the cup with smooth plastic surface carefully onto the grainy texture coaster",
+    "Use the arm to position the plastic cup for drinks onto the small coaster with grain texture.",
+    "Slide the cup for holding liquids gently onto the light gray round grainy coaster via the arm.",
+    "Drop the cup with smooth plastic surface firmly on the smooth round palm-sized coaster using arm",
+    "Using the arm, drop the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Set the cylindrical light blue cup down on the light gray round grainy coaster",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster",
+    "Move the cup for holding liquids to the flat surface gray wooden coaster",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture using the arm.",
+    "Lift the plastic cup for drinks and place it over the round coaster with light streaks",
+    "Move the cup with smooth plastic surface to the round coaster and set it down.",
+    "Position the cylindrical light blue cup carefully on the small coaster with grain texture",
+    "Make sure the cylindrical light blue cup ends up on the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup and place it onto the flat surface gray wooden coaster.",
+    "Set the blue rounded-bottom cup onto the flat round wooden coaster using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Grab the rounded base blue cup, then place it onto the coaster made of smooth wood.",
+    "Carefully place the smooth blue drinking cup onto the light gray streaked wooden coaster without arm",
+    "Position the blue rounded-bottom cup on the coaster made of smooth wood with the arm.",
+    "Set the smooth blue cup for liquids on the small coaster with grain texture using the arm.",
+    "Use the arm to position the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster using the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Direct the medium blue cylindrical cup to the coaster with circular shape and let it rest.",
+    "Relocate the cylindrical light blue cup precisely onto the coaster with circular shape with arm",
+    "Grab the rounded base blue cup and place it over the smooth round palm-sized coaster.",
+    "Use the arm to slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color up and drop it on the wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the smooth round palm-sized coaster.",
+    "Place the cup with smooth plastic surface on top of the light gray round grainy coaster",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape.",
+    "Align the blue rounded-bottom cup and set it down on the smooth round palm-sized coaster",
+    "Grab the smooth blue drinking cup and place it on the flat surface gray wooden coaster.",
+    "Stick the cup for holding liquids onto the small coaster with grain texture carefully.",
+    "Use arm to place the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Set the blue rounded-bottom cup securely on the flat surface gray wooden coaster using the arm.",
+    "Position the medium blue cylindrical cup squarely on top of the grainy texture coaster.",
+    "Move the cup for holding liquids onto the light gray round grainy coaster with the arm",
+    "Drop the rounded base blue cup on top of the wooden coaster.",
+    "Using the arm, align the smooth blue drinking cup over the small coaster with grain texture",
+    "Stick the light blue plastic cup onto the wooden coaster using the arm",
+    "Slide the medium-sized plastic blue cup onto the coaster with circular shape",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the light gray streaked wooden coaster"
+  ],
+  "unseen": [
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode32.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the cup with smooth plastic surface and set it down on the grainy texture coaster",
+    "Lift the plastic cup for drinks up and drop it on the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the wooden coaster using the arm",
+    "Grab the light blue plastic cup and place it over the coaster made of smooth wood.",
+    "Lift the rounded base blue cup and place it over the smooth round palm-sized coaster",
+    "Position the plastic cup for drinks on the flat surface gray wooden coaster with the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray round grainy coaster with arm",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster",
+    "Place the rounded base blue cup on top of the light gray round grainy coaster",
+    "Drop the blue rounded-bottom cup firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Set the cup for holding liquids on the smooth round palm-sized coaster using the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the round coaster.",
+    "Grab the smooth blue drinking cup and lower it onto the light gray round grainy coaster",
+    "Set the cup with smooth plastic surface down on the coaster with circular shape",
+    "Use the arm to position the rounded base blue cup onto the small coaster with grain texture.",
+    "Use the arm to put the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Grab the light blue plastic cup and set it onto the flat surface gray wooden coaster.",
+    "Drop the smooth blue cup for liquids on top of the coaster with circular shape.",
+    "Using the arm, slide the cup with light blue color onto the light gray round grainy coaster.",
+    "Set the cup with smooth plastic surface carefully onto the round coaster with light streaks",
+    "Move the smooth blue cup for liquids to the smooth round palm-sized coaster and set it down.",
+    "Lift the cup with smooth plastic surface and stick it onto the smooth round palm-sized coaster.",
+    "Carefully place the plastic cup for drinks onto the flat round wooden coaster without arm",
+    "Lift the light blue plastic cup and place it onto the wooden coaster.",
+    "Slide the rounded base blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Slide the smooth blue cup for liquids gently onto the flat surface gray wooden coaster via the arm.",
+    "Use an arm to place the cylindrical light blue cup on the coaster with circular shape",
+    "Pick the cylindrical light blue cup up and drop it on the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the coaster with circular shape carefully.",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Use arm to place the cup with light blue color on the grainy texture coaster",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Position the cylindrical light blue cup squarely on top of the grainy texture coaster.",
+    "Set the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Move the light blue plastic cup to the light gray round grainy coaster using the arm.",
+    "Direct the cup for holding liquids to the coaster made of smooth wood and let it rest.",
+    "Move the medium blue cylindrical cup onto the grainy texture coaster with the arm",
+    "Make sure the blue rounded-bottom cup ends up on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup using the arm onto the round coaster.",
+    "Use the arm to set the smooth blue drinking cup on the light gray round grainy coaster",
+    "Position the smooth blue cup for liquids above and drop it on the light gray round grainy coaster",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster",
+    "Position the cup for holding liquids carefully on the coaster with circular shape",
+    "Stick the cup for holding liquids onto the light gray round grainy coaster using the arm.",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Grab the medium-sized plastic blue cup and place it on the light gray round grainy coaster.",
+    "Using the arm, align the light blue plastic cup over the flat surface gray wooden coaster",
+    "Use the arm to slide the cup for holding liquids onto the flat round wooden coaster.",
+    "Align the light blue plastic cup and set it down on the light gray streaked wooden coaster",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm",
+    "Grab the medium-sized plastic blue cup and place it over the wooden coaster.",
+    "Lift the plastic cup for drinks and place it over the coaster with circular shape",
+    "Position the light blue plastic cup on the small coaster with grain texture with the arm.",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray round grainy coaster with arm",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster",
+    "Place the cylindrical light blue cup on top of the smooth round palm-sized coaster",
+    "Drop the plastic cup for drinks firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to position the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Set the rounded base blue cup on the coaster with circular shape using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and lower it onto the small coaster with grain texture",
+    "Set the blue rounded-bottom cup down on the round coaster with light streaks",
+    "Use the arm to position the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Use the arm to put the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Grab the cup with light blue color and set it onto the light gray round grainy coaster.",
+    "Drop the medium blue cylindrical cup on top of the round coaster with light streaks.",
+    "Using the arm, slide the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Set the light blue plastic cup carefully onto the coaster made of smooth wood",
+    "Move the cylindrical light blue cup to the light gray streaked wooden coaster and set it down.",
+    "Lift the cup with light blue color and stick it onto the wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Lift the cylindrical light blue cup and place it onto the light gray streaked wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm.",
+    "Slide the blue rounded-bottom cup gently onto the light gray round grainy coaster via the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the coaster with circular shape",
+    "Pick the smooth blue drinking cup up and drop it on the small coaster with grain texture.",
+    "Stick the light blue plastic cup onto the light gray streaked wooden coaster carefully.",
+    "Set the light blue plastic cup securely on the round coaster using the arm.",
+    "Use arm to place the medium blue cylindrical cup on the small coaster with grain texture",
+    "Using the arm, drop the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape.",
+    "Position the cup with light blue color squarely on top of the smooth round palm-sized coaster.",
+    "Set the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster using the arm.",
+    "Direct the cylindrical light blue cup to the light gray round grainy coaster and let it rest.",
+    "Move the smooth blue cup for liquids onto the wooden coaster with the arm",
+    "Make sure the cup with light blue color ends up on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the round coaster.",
+    "Use the arm to set the rounded base blue cup on the flat surface gray wooden coaster",
+    "Position the rounded base blue cup above and drop it on the coaster made of smooth wood",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture",
+    "Position the medium-sized plastic blue cup carefully on the light gray streaked wooden coaster",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm.",
+    "Use an arm to drop the cup for holding liquids on the light gray streaked wooden coaster",
+    "Grab the rounded base blue cup and place it on the light gray streaked wooden coaster.",
+    "Using the arm, align the rounded base blue cup over the small coaster with grain texture",
+    "Use the arm to slide the medium blue cylindrical cup onto the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode320.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, drop the cup with light blue color onto the flat round wooden coaster.",
+    "Drop the plastic cup for drinks on top of the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids on the coaster made of smooth wood with the arm.",
+    "Grab the medium-sized plastic blue cup, then place it onto the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup onto the wooden coaster with the arm",
+    "Use arm to place the light blue plastic cup on the round coaster with light streaks",
+    "Lift the smooth blue cup for liquids and place it onto the coaster made of smooth wood.",
+    "Use an arm to place the plastic cup for drinks on the coaster made of smooth wood",
+    "Grab the cup for holding liquids and place it on the coaster with circular shape.",
+    "Position the cylindrical light blue cup squarely on top of the grainy texture coaster.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster using the arm.",
+    "Set the cup for holding liquids down on the round coaster",
+    "Use the arm to set the plastic cup for drinks on the coaster made of smooth wood",
+    "Set the plastic cup for drinks securely on the light gray round grainy coaster using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray round grainy coaster",
+    "Slide the light blue plastic cup onto the flat round wooden coaster with the arm.",
+    "Use the arm to put the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks using the arm onto the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the small coaster with grain texture",
+    "Align the medium-sized plastic blue cup and set it down on the grainy texture coaster",
+    "Lift the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup to the grainy texture coaster",
+    "Place the smooth blue drinking cup on top of the flat round wooden coaster",
+    "Relocate the cylindrical light blue cup precisely onto the round coaster with arm",
+    "Set the rounded base blue cup onto the round coaster using the arm.",
+    "Set the blue rounded-bottom cup carefully onto the flat round wooden coaster",
+    "Use the arm to position the plastic cup for drinks onto the small coaster with grain texture.",
+    "Use the arm to slide the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Grab the plastic cup for drinks and place it over the flat round wooden coaster.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Using the arm, align the light blue plastic cup over the flat round wooden coaster",
+    "Position the blue rounded-bottom cup above and drop it on the wooden coaster",
+    "Drop the plastic cup for drinks firmly on the smooth round palm-sized coaster using arm",
+    "Direct the smooth blue drinking cup to the flat round wooden coaster and let it rest.",
+    "Lift the cup with light blue color and place it over the light gray round grainy coaster",
+    "Stick the cup for holding liquids onto the light gray streaked wooden coaster using the arm.",
+    "Slide the cup with light blue color gently onto the light gray streaked wooden coaster via the arm.",
+    "Use the arm to position the rounded base blue cup on the round coaster.",
+    "Stick the rounded base blue cup onto the coaster made of smooth wood carefully.",
+    "Stick the smooth blue cup for liquids onto the wooden coaster using the arm",
+    "Move the medium-sized plastic blue cup to the wooden coaster and set it down.",
+    "Make sure the blue rounded-bottom cup ends up on the round coaster with light streaks.",
+    "Set the cup for holding liquids on the wooden coaster using the arm.",
+    "Slide the smooth blue cup for liquids onto the flat surface gray wooden coaster",
+    "Carefully place the smooth blue drinking cup onto the flat round wooden coaster without arm",
+    "Position the cylindrical light blue cup carefully on the light gray streaked wooden coaster",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Use an arm to drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Pick the blue rounded-bottom cup up and drop it on the wooden coaster.",
+    "Using the arm, drop the cup with light blue color onto the small coaster with grain texture.",
+    "Drop the plastic cup for drinks on top of the small coaster with grain texture.",
+    "Position the cylindrical light blue cup on the flat round wooden coaster with the arm.",
+    "Grab the cup with smooth plastic surface, then place it onto the wooden coaster.",
+    "Move the rounded base blue cup onto the coaster with circular shape with the arm",
+    "Use arm to place the cup with light blue color on the light gray streaked wooden coaster",
+    "Lift the cup for holding liquids and place it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the cylindrical light blue cup on the wooden coaster",
+    "Grab the medium blue cylindrical cup and place it on the flat surface gray wooden coaster.",
+    "Position the smooth blue cup for liquids squarely on top of the small coaster with grain texture.",
+    "Move the cup for holding liquids to the flat surface gray wooden coaster using the arm.",
+    "Set the rounded base blue cup down on the wooden coaster",
+    "Use the arm to set the medium blue cylindrical cup on the flat round wooden coaster",
+    "Set the smooth blue cup for liquids securely on the round coaster with light streaks using the arm.",
+    "Grab the blue rounded-bottom cup and lower it onto the flat round wooden coaster",
+    "Slide the cylindrical light blue cup onto the coaster made of smooth wood with the arm.",
+    "Use the arm to put the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface using the arm onto the grainy texture coaster.",
+    "Lift the plastic cup for drinks and stick it onto the coaster with circular shape.",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster with light streaks",
+    "Align the cup for holding liquids and set it down on the smooth round palm-sized coaster",
+    "Lift the plastic cup for drinks up and drop it on the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood",
+    "Place the rounded base blue cup on top of the round coaster with light streaks",
+    "Relocate the medium-sized plastic blue cup precisely onto the round coaster with light streaks with arm",
+    "Set the smooth blue cup for liquids onto the light gray streaked wooden coaster using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the round coaster",
+    "Use the arm to position the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it over the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Using the arm, align the cylindrical light blue cup over the coaster with circular shape",
+    "Position the blue rounded-bottom cup above and drop it on the smooth round palm-sized coaster",
+    "Drop the smooth blue cup for liquids firmly on the coaster with circular shape using arm",
+    "Direct the cup for holding liquids to the round coaster and let it rest.",
+    "Lift the plastic cup for drinks and place it over the wooden coaster",
+    "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the light gray round grainy coaster via the arm.",
+    "Use the arm to position the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the smooth round palm-sized coaster carefully.",
+    "Stick the light blue plastic cup onto the round coaster using the arm",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture and set it down.",
+    "Make sure the cup for holding liquids ends up on the coaster with circular shape.",
+    "Set the medium blue cylindrical cup on the flat surface gray wooden coaster using the arm.",
+    "Slide the medium-sized plastic blue cup onto the coaster made of smooth wood",
+    "Carefully place the cup with smooth plastic surface onto the flat surface gray wooden coaster without arm",
+    "Position the blue rounded-bottom cup carefully on the round coaster with light streaks",
+    "Grab the medium-sized plastic blue cup and set it onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the flat round wooden coaster.",
+    "Pick the plastic cup for drinks up and drop it on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode327.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the smooth blue drinking cup above and drop it on the grainy texture coaster",
+    "Relocate the cylindrical light blue cup precisely onto the flat round wooden coaster with arm",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm.",
+    "Direct the plastic cup for drinks to the light gray streaked wooden coaster and let it rest.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm",
+    "Lift the medium-sized plastic blue cup and place it over the small coaster with grain texture",
+    "Use the arm to put the medium blue cylindrical cup onto the wooden coaster.",
+    "Grab the cup with light blue color and place it on the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster carefully.",
+    "Align the rounded base blue cup and set it down on the small coaster with grain texture",
+    "Use the arm to position the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Set the medium blue cylindrical cup on the coaster made of smooth wood using the arm.",
+    "Use the arm to set the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Position the cylindrical light blue cup squarely on top of the round coaster with light streaks.",
+    "Make sure the smooth blue cup for liquids ends up on the coaster with circular shape.",
+    "Drop the cylindrical light blue cup firmly on the coaster with circular shape using arm",
+    "Position the cylindrical light blue cup on the grainy texture coaster with the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the light gray streaked wooden coaster",
+    "Slide the cup with smooth plastic surface onto the light gray streaked wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the round coaster with light streaks.",
+    "Set the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Carefully place the light blue plastic cup onto the round coaster with light streaks without arm",
+    "Move the rounded base blue cup to the round coaster with light streaks using the arm.",
+    "Using the arm, slide the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Pick the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster with light streaks",
+    "Using the arm, align the light blue plastic cup over the round coaster with light streaks",
+    "Using the arm, drop the cup for holding liquids onto the wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the small coaster with grain texture.",
+    "Drop the blue rounded-bottom cup on top of the coaster made of smooth wood.",
+    "Place the light blue plastic cup on top of the wooden coaster",
+    "Set the medium-sized plastic blue cup down on the flat surface gray wooden coaster",
+    "Move the plastic cup for drinks using the arm onto the round coaster.",
+    "Use arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood and set it down.",
+    "Move the smooth blue drinking cup to the grainy texture coaster",
+    "Lift the plastic cup for drinks and place it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids securely on the grainy texture coaster using the arm.",
+    "Grab the rounded base blue cup and set it onto the round coaster.",
+    "Move the rounded base blue cup onto the light gray streaked wooden coaster with the arm",
+    "Use an arm to drop the plastic cup for drinks on the coaster made of smooth wood.",
+    "Slide the cup with light blue color gently onto the flat surface gray wooden coaster via the arm.",
+    "Position the plastic cup for drinks carefully on the wooden coaster",
+    "Use an arm to place the smooth blue cup for liquids on the wooden coaster",
+    "Grab the cup for holding liquids and place it over the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup and lower it onto the coaster with circular shape",
+    "Lift the cylindrical light blue cup and stick it onto the coaster with circular shape.",
+    "Slide the cup for holding liquids onto the round coaster with the arm.",
+    "Use the arm to position the light blue plastic cup on the flat round wooden coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the smooth round palm-sized coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the light gray round grainy coaster with arm",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm.",
+    "Direct the cup with smooth plastic surface to the flat surface gray wooden coaster and let it rest.",
+    "Stick the cylindrical light blue cup onto the flat surface gray wooden coaster using the arm",
+    "Lift the medium blue cylindrical cup and place it over the coaster made of smooth wood",
+    "Use the arm to put the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Grab the light blue plastic cup and place it on the light gray streaked wooden coaster.",
+    "Stick the cup for holding liquids onto the grainy texture coaster carefully.",
+    "Align the cylindrical light blue cup and set it down on the coaster with circular shape",
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster.",
+    "Set the light blue plastic cup on the light gray streaked wooden coaster using the arm.",
+    "Use the arm to set the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Position the medium blue cylindrical cup squarely on top of the smooth round palm-sized coaster.",
+    "Make sure the cylindrical light blue cup ends up on the coaster with circular shape.",
+    "Drop the medium blue cylindrical cup firmly on the flat surface gray wooden coaster using arm",
+    "Position the blue rounded-bottom cup on the coaster with circular shape with the arm.",
+    "Set the cup with smooth plastic surface carefully onto the small coaster with grain texture",
+    "Slide the light blue plastic cup onto the round coaster with light streaks",
+    "Use the arm to slide the medium-sized plastic blue cup onto the wooden coaster.",
+    "Set the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Lift the medium blue cylindrical cup up and drop it on the light gray streaked wooden coaster.",
+    "Carefully place the light blue plastic cup onto the flat round wooden coaster without arm",
+    "Move the cup with smooth plastic surface to the grainy texture coaster using the arm.",
+    "Using the arm, slide the rounded base blue cup onto the small coaster with grain texture.",
+    "Pick the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the flat round wooden coaster",
+    "Using the arm, align the rounded base blue cup over the grainy texture coaster",
+    "Using the arm, drop the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Grab the cup with light blue color, then place it onto the grainy texture coaster.",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Place the cup with smooth plastic surface on top of the smooth round palm-sized coaster",
+    "Set the smooth blue drinking cup down on the flat round wooden coaster",
+    "Move the cylindrical light blue cup using the arm onto the flat round wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the wooden coaster",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape and set it down.",
+    "Move the cylindrical light blue cup to the small coaster with grain texture",
+    "Lift the cup for holding liquids and place it onto the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup securely on the wooden coaster using the arm.",
+    "Grab the cylindrical light blue cup and set it onto the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup onto the coaster with circular shape with the arm",
+    "Use an arm to drop the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the smooth round palm-sized coaster via the arm.",
+    "Position the cup for holding liquids carefully on the flat round wooden coaster",
+    "Use an arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Grab the rounded base blue cup and place it over the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup and lower it onto the grainy texture coaster",
+    "Lift the cup with light blue color and stick it onto the light gray round grainy coaster.",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture with the arm.",
+    "Use the arm to position the smooth blue cup for liquids on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode471.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the medium-sized plastic blue cup on top of the light gray streaked wooden coaster",
+    "Slide the medium blue cylindrical cup onto the coaster made of smooth wood with the arm.",
+    "Set the rounded base blue cup carefully onto the light gray streaked wooden coaster",
+    "Position the cup for holding liquids on the round coaster with light streaks with the arm.",
+    "Position the cup for holding liquids carefully on the coaster made of smooth wood",
+    "Stick the cup with light blue color onto the round coaster using the arm.",
+    "Move the plastic cup for drinks onto the light gray round grainy coaster with the arm",
+    "Pick the blue rounded-bottom cup up and drop it on the smooth round palm-sized coaster.",
+    "Use arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Position the blue rounded-bottom cup above and drop it on the wooden coaster",
+    "Using the arm, align the smooth blue cup for liquids over the light gray round grainy coaster",
+    "Use the arm to set the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster",
+    "Use the arm to slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the coaster made of smooth wood.",
+    "Set the rounded base blue cup on the grainy texture coaster using the arm.",
+    "Use the arm to position the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Use an arm to drop the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it over the grainy texture coaster",
+    "Align the smooth blue drinking cup and set it down on the coaster with circular shape",
+    "Position the cup for holding liquids squarely on top of the coaster with circular shape.",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Use an arm to place the medium-sized plastic blue cup on the light gray streaked wooden coaster",
+    "Carefully place the cup for holding liquids onto the grainy texture coaster without arm",
+    "Make sure the medium blue cylindrical cup ends up on the wooden coaster.",
+    "Set the smooth blue cup for liquids down on the round coaster",
+    "Direct the light blue plastic cup to the grainy texture coaster and let it rest.",
+    "Lift the medium-sized plastic blue cup and place it onto the light gray streaked wooden coaster.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks",
+    "Using the arm, slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the light gray round grainy coaster with arm",
+    "Use the arm to position the cup with light blue color on the coaster with circular shape.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster with light streaks.",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster carefully.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks using the arm.",
+    "Set the blue rounded-bottom cup securely on the coaster with circular shape using the arm.",
+    "Grab the cylindrical light blue cup and lower it onto the small coaster with grain texture",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm",
+    "Lift the blue rounded-bottom cup and stick it onto the round coaster.",
+    "Drop the smooth blue drinking cup on top of the small coaster with grain texture.",
+    "Use the arm to put the plastic cup for drinks onto the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids, then place it onto the flat round wooden coaster.",
+    "Using the arm, drop the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Set the rounded base blue cup onto the grainy texture coaster using the arm.",
+    "Grab the smooth blue cup for liquids and set it onto the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster and set it down.",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster",
+    "Slide the rounded base blue cup gently onto the small coaster with grain texture via the arm.",
+    "Grab the smooth blue drinking cup and place it on the smooth round palm-sized coaster.",
+    "Grab the blue rounded-bottom cup and place it over the round coaster.",
+    "Place the cup for holding liquids on top of the coaster made of smooth wood",
+    "Slide the medium-sized plastic blue cup onto the round coaster with light streaks with the arm.",
+    "Set the plastic cup for drinks carefully onto the smooth round palm-sized coaster",
+    "Position the rounded base blue cup on the smooth round palm-sized coaster with the arm.",
+    "Position the cup with smooth plastic surface carefully on the light gray round grainy coaster",
+    "Stick the rounded base blue cup onto the grainy texture coaster using the arm.",
+    "Move the cup for holding liquids onto the coaster with circular shape with the arm",
+    "Pick the blue rounded-bottom cup up and drop it on the round coaster.",
+    "Use arm to place the smooth blue cup for liquids on the coaster with circular shape",
+    "Position the cup with smooth plastic surface above and drop it on the round coaster",
+    "Using the arm, align the rounded base blue cup over the coaster with circular shape",
+    "Use the arm to set the cup with light blue color on the round coaster with light streaks",
+    "Move the rounded base blue cup to the flat round wooden coaster",
+    "Use the arm to slide the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface using the arm onto the coaster with circular shape.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Use an arm to drop the cup for holding liquids on the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup and place it over the light gray round grainy coaster",
+    "Align the cylindrical light blue cup and set it down on the light gray round grainy coaster",
+    "Position the blue rounded-bottom cup squarely on top of the wooden coaster.",
+    "Drop the smooth blue cup for liquids firmly on the round coaster with light streaks using arm",
+    "Use an arm to place the plastic cup for drinks on the wooden coaster",
+    "Carefully place the light blue plastic cup onto the light gray streaked wooden coaster without arm",
+    "Make sure the rounded base blue cup ends up on the grainy texture coaster.",
+    "Set the blue rounded-bottom cup down on the flat surface gray wooden coaster",
+    "Direct the cup with light blue color to the light gray streaked wooden coaster and let it rest.",
+    "Lift the cup with smooth plastic surface and place it onto the light gray streaked wooden coaster.",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture",
+    "Using the arm, slide the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Relocate the smooth blue cup for liquids precisely onto the wooden coaster with arm",
+    "Use the arm to position the light blue plastic cup on the wooden coaster.",
+    "Lift the light blue plastic cup up and drop it on the wooden coaster.",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster carefully.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood using the arm.",
+    "Set the cup for holding liquids securely on the flat round wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and lower it onto the light gray round grainy coaster",
+    "Stick the blue rounded-bottom cup onto the light gray round grainy coaster using the arm",
+    "Lift the cup with light blue color and stick it onto the coaster with circular shape.",
+    "Drop the medium blue cylindrical cup on top of the light gray streaked wooden coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup, then place it onto the coaster with circular shape.",
+    "Using the arm, drop the medium blue cylindrical cup onto the wooden coaster.",
+    "Set the medium blue cylindrical cup onto the flat round wooden coaster using the arm.",
+    "Grab the cup with smooth plastic surface and set it onto the wooden coaster.",
+    "Move the light blue plastic cup to the coaster with circular shape and set it down.",
+    "Use an arm to drop the cylindrical light blue cup on the round coaster",
+    "Slide the cup for holding liquids gently onto the small coaster with grain texture via the arm.",
+    "Grab the blue rounded-bottom cup and place it on the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids and place it over the grainy texture coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode483.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded base blue cup and stick it onto the coaster with circular shape.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Lift the medium-sized plastic blue cup and place it over the flat surface gray wooden coaster",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster",
+    "Align the blue rounded-bottom cup and set it down on the flat round wooden coaster",
+    "Make sure the light blue plastic cup ends up on the flat round wooden coaster.",
+    "Move the cylindrical light blue cup to the light gray streaked wooden coaster and set it down.",
+    "Stick the smooth blue drinking cup onto the light gray streaked wooden coaster carefully.",
+    "Slide the medium blue cylindrical cup onto the round coaster with the arm.",
+    "Position the cup with light blue color on the round coaster with light streaks with the arm.",
+    "Grab the smooth blue drinking cup and lower it onto the wooden coaster",
+    "Set the smooth blue cup for liquids on the grainy texture coaster using the arm.",
+    "Use the arm to put the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Position the rounded base blue cup squarely on top of the coaster made of smooth wood.",
+    "Set the cup with smooth plastic surface securely on the round coaster with light streaks using the arm.",
+    "Slide the rounded base blue cup onto the wooden coaster",
+    "Use an arm to drop the light blue plastic cup on the round coaster with light streaks",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup and place it on the light gray streaked wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the light gray round grainy coaster using arm",
+    "Use the arm to set the cup for holding liquids on the light gray round grainy coaster",
+    "Set the smooth blue cup for liquids carefully onto the small coaster with grain texture",
+    "Direct the cup with smooth plastic surface to the flat round wooden coaster and let it rest.",
+    "Grab the cup with smooth plastic surface, then place it onto the coaster with circular shape.",
+    "Use the arm to position the cup with light blue color on the small coaster with grain texture.",
+    "Using the arm, align the cup for holding liquids over the flat surface gray wooden coaster",
+    "Set the medium blue cylindrical cup down on the round coaster",
+    "Use an arm to place the cylindrical light blue cup on the round coaster",
+    "Use the arm to position the light blue plastic cup onto the grainy texture coaster.",
+    "Move the smooth blue cup for liquids onto the round coaster with light streaks with the arm",
+    "Relocate the medium blue cylindrical cup precisely onto the coaster with circular shape with arm",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm",
+    "Position the cylindrical light blue cup carefully on the round coaster with light streaks",
+    "Carefully place the cup with smooth plastic surface onto the flat round wooden coaster without arm",
+    "Use an arm to drop the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it onto the coaster made of smooth wood.",
+    "Move the cup with light blue color to the coaster with circular shape using the arm.",
+    "Place the medium blue cylindrical cup on top of the flat surface gray wooden coaster",
+    "Use the arm to slide the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the grainy texture coaster.",
+    "Move the cylindrical light blue cup using the arm onto the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup and set it onto the smooth round palm-sized coaster.",
+    "Stick the smooth blue drinking cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium-sized plastic blue cup and place it over the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids onto the coaster with circular shape using the arm.",
+    "Slide the plastic cup for drinks gently onto the round coaster via the arm.",
+    "Position the smooth blue drinking cup above and drop it on the smooth round palm-sized coaster",
+    "Drop the plastic cup for drinks on top of the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup and stick it onto the wooden coaster.",
+    "Lift the plastic cup for drinks up and drop it on the wooden coaster.",
+    "Using the arm, drop the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Use arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Lift the smooth blue cup for liquids and place it over the round coaster with light streaks",
+    "Move the smooth blue drinking cup to the wooden coaster",
+    "Align the medium blue cylindrical cup and set it down on the coaster made of smooth wood",
+    "Make sure the light blue plastic cup ends up on the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the coaster with circular shape and set it down.",
+    "Stick the medium-sized plastic blue cup onto the light gray streaked wooden coaster carefully.",
+    "Slide the smooth blue drinking cup onto the grainy texture coaster with the arm.",
+    "Position the smooth blue drinking cup on the round coaster with the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the small coaster with grain texture",
+    "Set the cup with light blue color on the round coaster with light streaks using the arm.",
+    "Use the arm to put the medium-sized plastic blue cup onto the wooden coaster.",
+    "Position the cup with light blue color squarely on top of the flat round wooden coaster.",
+    "Set the cup for holding liquids securely on the coaster made of smooth wood using the arm.",
+    "Slide the cup for holding liquids onto the light gray round grainy coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture",
+    "Using the arm, slide the smooth blue cup for liquids onto the wooden coaster.",
+    "Grab the cup for holding liquids and place it on the wooden coaster.",
+    "Drop the rounded base blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Use the arm to set the smooth blue drinking cup on the coaster with circular shape",
+    "Set the cylindrical light blue cup carefully onto the coaster made of smooth wood",
+    "Direct the smooth blue cup for liquids to the smooth round palm-sized coaster and let it rest.",
+    "Grab the plastic cup for drinks, then place it onto the grainy texture coaster.",
+    "Use the arm to position the cup with light blue color on the light gray streaked wooden coaster.",
+    "Using the arm, align the smooth blue drinking cup over the round coaster",
+    "Set the cup with smooth plastic surface down on the small coaster with grain texture",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the wooden coaster with the arm",
+    "Relocate the medium-sized plastic blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm",
+    "Position the medium-sized plastic blue cup carefully on the round coaster",
+    "Carefully place the rounded base blue cup onto the round coaster without arm",
+    "Use an arm to drop the plastic cup for drinks on the coaster with circular shape.",
+    "Lift the rounded base blue cup and place it onto the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks using the arm.",
+    "Place the cup for holding liquids on top of the coaster made of smooth wood",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster.",
+    "Pick the cylindrical light blue cup up and drop it on the grainy texture coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the wooden coaster.",
+    "Grab the plastic cup for drinks and set it onto the coaster with circular shape.",
+    "Stick the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Grab the smooth blue drinking cup and place it over the light gray streaked wooden coaster.",
+    "Set the medium blue cylindrical cup onto the small coaster with grain texture using the arm.",
+    "Slide the cup with smooth plastic surface gently onto the light gray round grainy coaster via the arm.",
+    "Position the cup with light blue color above and drop it on the small coaster with grain texture",
+    "Drop the blue rounded-bottom cup on top of the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode57.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to drop the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Move the medium blue cylindrical cup to the coaster with circular shape",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Grab the medium blue cylindrical cup and place it on the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup and place it onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks.",
+    "Use the arm to put the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Use an arm to place the light blue plastic cup on the round coaster",
+    "Place the medium-sized plastic blue cup on top of the coaster with circular shape",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Grab the rounded base blue cup and lower it onto the wooden coaster",
+    "Drop the medium blue cylindrical cup on top of the light gray streaked wooden coaster.",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Set the light blue plastic cup carefully onto the wooden coaster",
+    "Use the arm to position the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup and place it over the coaster made of smooth wood.",
+    "Position the light blue plastic cup above and drop it on the round coaster with light streaks",
+    "Set the cylindrical light blue cup on the smooth round palm-sized coaster using the arm.",
+    "Align the medium blue cylindrical cup and set it down on the grainy texture coaster",
+    "Stick the cup with smooth plastic surface onto the light gray streaked wooden coaster carefully.",
+    "Set the cup with light blue color onto the flat round wooden coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm.",
+    "Use the arm to position the cylindrical light blue cup on the round coaster.",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Use the arm to slide the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Relocate the light blue plastic cup precisely onto the round coaster with arm",
+    "Slide the plastic cup for drinks onto the round coaster with light streaks",
+    "Pick the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Stick the blue rounded-bottom cup onto the small coaster with grain texture using the arm",
+    "Use arm to place the cup for holding liquids on the flat round wooden coaster",
+    "Lift the medium blue cylindrical cup and stick it onto the round coaster.",
+    "Position the medium-sized plastic blue cup squarely on top of the round coaster.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Slide the cup for holding liquids onto the round coaster with the arm.",
+    "Lift the cup with light blue color and place it over the wooden coaster",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the cylindrical light blue cup on the round coaster",
+    "Move the smooth blue drinking cup using the arm onto the wooden coaster.",
+    "Make sure the cup with light blue color ends up on the flat surface gray wooden coaster.",
+    "Lift the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Carefully place the medium blue cylindrical cup onto the wooden coaster without arm",
+    "Position the cylindrical light blue cup carefully on the smooth round palm-sized coaster",
+    "Set the smooth blue drinking cup down on the light gray round grainy coaster",
+    "Move the rounded base blue cup to the coaster made of smooth wood and set it down.",
+    "Grab the smooth blue cup for liquids and set it onto the grainy texture coaster.",
+    "Position the medium-sized plastic blue cup on the light gray round grainy coaster with the arm.",
+    "Set the cup for holding liquids securely on the flat surface gray wooden coaster using the arm.",
+    "Direct the cup for holding liquids to the grainy texture coaster and let it rest.",
+    "Using the arm, align the blue rounded-bottom cup over the grainy texture coaster",
+    "Using the arm, drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the grainy texture coaster",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster",
+    "Move the medium-sized plastic blue cup onto the round coaster with the arm",
+    "Grab the medium-sized plastic blue cup and place it on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the light gray round grainy coaster.",
+    "Use an arm to drop the cylindrical light blue cup on the grainy texture coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Use an arm to place the light blue plastic cup on the coaster made of smooth wood",
+    "Place the blue rounded-bottom cup on top of the small coaster with grain texture",
+    "Using the arm, slide the rounded base blue cup onto the small coaster with grain texture.",
+    "Grab the cup with light blue color and lower it onto the light gray round grainy coaster",
+    "Drop the medium blue cylindrical cup on top of the wooden coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the round coaster.",
+    "Set the cup for holding liquids carefully onto the smooth round palm-sized coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Grab the cup with light blue color and place it over the small coaster with grain texture.",
+    "Position the cup with smooth plastic surface above and drop it on the coaster made of smooth wood",
+    "Set the medium-sized plastic blue cup on the grainy texture coaster using the arm.",
+    "Align the cup with smooth plastic surface and set it down on the wooden coaster",
+    "Stick the medium blue cylindrical cup onto the wooden coaster carefully.",
+    "Set the medium blue cylindrical cup onto the round coaster using the arm.",
+    "Slide the light blue plastic cup gently onto the round coaster with light streaks via the arm.",
+    "Use the arm to position the smooth blue cup for liquids on the grainy texture coaster.",
+    "Drop the smooth blue cup for liquids firmly on the light gray round grainy coaster using arm",
+    "Use the arm to slide the light blue plastic cup onto the light gray round grainy coaster.",
+    "Relocate the plastic cup for drinks precisely onto the coaster with circular shape with arm",
+    "Slide the cup for holding liquids onto the small coaster with grain texture",
+    "Pick the cup with smooth plastic surface up and drop it on the wooden coaster.",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster using the arm",
+    "Use arm to place the cup with light blue color on the smooth round palm-sized coaster",
+    "Lift the cylindrical light blue cup and stick it onto the small coaster with grain texture.",
+    "Position the medium blue cylindrical cup squarely on top of the coaster made of smooth wood.",
+    "Stick the medium blue cylindrical cup onto the grainy texture coaster using the arm.",
+    "Slide the rounded base blue cup onto the grainy texture coaster with the arm.",
+    "Lift the cup with smooth plastic surface and place it over the smooth round palm-sized coaster",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster using the arm.",
+    "Use the arm to set the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Move the cylindrical light blue cup using the arm onto the round coaster with light streaks.",
+    "Make sure the plastic cup for drinks ends up on the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids up and drop it on the flat round wooden coaster.",
+    "Carefully place the cup with light blue color onto the coaster made of smooth wood without arm",
+    "Position the cup with light blue color carefully on the flat surface gray wooden coaster",
+    "Set the cup with light blue color down on the light gray round grainy coaster",
+    "Move the plastic cup for drinks to the flat round wooden coaster and set it down.",
+    "Grab the cup for holding liquids and set it onto the smooth round palm-sized coaster.",
+    "Position the cup with smooth plastic surface on the round coaster with the arm.",
+    "Set the medium-sized plastic blue cup securely on the light gray round grainy coaster using the arm.",
+    "Direct the cylindrical light blue cup to the wooden coaster and let it rest.",
+    "Using the arm, align the cup with light blue color over the flat round wooden coaster",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode93.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the medium blue cylindrical cup above and drop it on the light gray streaked wooden coaster",
+    "Lift the medium blue cylindrical cup and place it over the flat surface gray wooden coaster",
+    "Slide the light blue plastic cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Set the smooth blue cup for liquids down on the coaster made of smooth wood",
+    "Lift the medium-sized plastic blue cup up and drop it on the flat round wooden coaster.",
+    "Use the arm to set the cup with light blue color on the light gray round grainy coaster",
+    "Make sure the plastic cup for drinks ends up on the round coaster.",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture.",
+    "Set the smooth blue cup for liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Slide the blue rounded-bottom cup onto the round coaster with the arm.",
+    "Align the light blue plastic cup and set it down on the coaster with circular shape",
+    "Move the cup with light blue color to the light gray round grainy coaster and set it down.",
+    "Position the cup with light blue color squarely on top of the small coaster with grain texture.",
+    "Set the cylindrical light blue cup on the coaster with circular shape using the arm.",
+    "Set the cup for holding liquids carefully onto the light gray streaked wooden coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Grab the plastic cup for drinks and set it onto the light gray streaked wooden coaster.",
+    "Pick the smooth blue cup for liquids up and drop it on the light gray round grainy coaster.",
+    "Grab the light blue plastic cup and place it on the grainy texture coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Stick the cup for holding liquids onto the wooden coaster using the arm.",
+    "Position the smooth blue cup for liquids carefully on the flat round wooden coaster",
+    "Drop the rounded base blue cup on top of the coaster with circular shape.",
+    "Move the smooth blue drinking cup to the flat surface gray wooden coaster using the arm.",
+    "Move the medium-sized plastic blue cup using the arm onto the coaster made of smooth wood.",
+    "Place the cylindrical light blue cup on top of the wooden coaster",
+    "Lift the cup with light blue color and place it onto the coaster with circular shape.",
+    "Using the arm, drop the blue rounded-bottom cup onto the round coaster.",
+    "Move the cup for holding liquids to the round coaster",
+    "Using the arm, align the smooth blue drinking cup over the light gray streaked wooden coaster",
+    "Grab the light blue plastic cup and lower it onto the flat surface gray wooden coaster",
+    "Set the blue rounded-bottom cup onto the flat surface gray wooden coaster using the arm.",
+    "Move the rounded base blue cup onto the light gray round grainy coaster with the arm",
+    "Grab the smooth blue drinking cup and place it over the flat surface gray wooden coaster.",
+    "Drop the blue rounded-bottom cup firmly on the flat round wooden coaster using arm",
+    "Use an arm to drop the smooth blue cup for liquids on the coaster with circular shape",
+    "Use the arm to slide the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm",
+    "Use an arm to place the plastic cup for drinks on the light gray round grainy coaster",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Use the arm to put the cup for holding liquids onto the flat round wooden coaster.",
+    "Position the cylindrical light blue cup on the flat surface gray wooden coaster with the arm.",
+    "Use arm to place the smooth blue cup for liquids on the wooden coaster",
+    "Use the arm to position the light blue plastic cup on the wooden coaster.",
+    "Grab the medium-sized plastic blue cup, then place it onto the round coaster with light streaks.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Direct the medium-sized plastic blue cup to the light gray round grainy coaster and let it rest.",
+    "Slide the cylindrical light blue cup onto the round coaster",
+    "Lift the medium blue cylindrical cup and stick it onto the light gray streaked wooden coaster.",
+    "Carefully place the smooth blue cup for liquids onto the smooth round palm-sized coaster without arm",
+    "Position the smooth blue drinking cup above and drop it on the light gray round grainy coaster",
+    "Lift the cup for holding liquids and place it over the coaster made of smooth wood",
+    "Slide the cup for holding liquids gently onto the round coaster with light streaks via the arm.",
+    "Set the cylindrical light blue cup down on the flat surface gray wooden coaster",
+    "Lift the cup with light blue color up and drop it on the wooden coaster.",
+    "Use the arm to set the rounded base blue cup on the coaster made of smooth wood",
+    "Make sure the light blue plastic cup ends up on the round coaster with light streaks.",
+    "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Set the smooth blue cup for liquids securely on the light gray streaked wooden coaster using the arm.",
+    "Slide the medium blue cylindrical cup onto the flat surface gray wooden coaster with the arm.",
+    "Align the plastic cup for drinks and set it down on the wooden coaster",
+    "Move the cup with smooth plastic surface to the coaster with circular shape and set it down.",
+    "Position the blue rounded-bottom cup squarely on top of the flat surface gray wooden coaster.",
+    "Set the smooth blue cup for liquids on the flat surface gray wooden coaster using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the small coaster with grain texture",
+    "Relocate the cup for holding liquids precisely onto the coaster with circular shape with arm",
+    "Grab the rounded base blue cup and set it onto the round coaster.",
+    "Pick the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color and place it on the small coaster with grain texture.",
+    "Using the arm, slide the cylindrical light blue cup onto the round coaster.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm.",
+    "Position the medium blue cylindrical cup carefully on the round coaster",
+    "Drop the medium-sized plastic blue cup on top of the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster using the arm.",
+    "Move the cup for holding liquids using the arm onto the flat round wooden coaster.",
+    "Place the cylindrical light blue cup on top of the small coaster with grain texture",
+    "Lift the plastic cup for drinks and place it onto the smooth round palm-sized coaster.",
+    "Using the arm, drop the cylindrical light blue cup onto the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster",
+    "Using the arm, align the plastic cup for drinks over the flat surface gray wooden coaster",
+    "Grab the blue rounded-bottom cup and lower it onto the flat round wooden coaster",
+    "Set the blue rounded-bottom cup onto the round coaster using the arm.",
+    "Move the rounded base blue cup onto the round coaster with the arm",
+    "Grab the rounded base blue cup and place it over the round coaster with light streaks.",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Use an arm to drop the light blue plastic cup on the wooden coaster",
+    "Use the arm to slide the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm",
+    "Use an arm to place the light blue plastic cup on the wooden coaster",
+    "Stick the light blue plastic cup onto the small coaster with grain texture carefully.",
+    "Use the arm to put the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface on the light gray round grainy coaster with the arm.",
+    "Use arm to place the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Use the arm to position the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the coaster with circular shape.",
+    "Use the arm to position the cup with light blue color onto the coaster made of smooth wood.",
+    "Direct the cylindrical light blue cup to the grainy texture coaster and let it rest.",
+    "Slide the cup for holding liquids onto the round coaster with light streaks",
+    "Lift the light blue plastic cup and stick it onto the flat round wooden coaster.",
+    "Carefully place the rounded base blue cup onto the flat round wooden coaster without arm"
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster"
+  ]
+}

place_empty_cup/arx-x5_randomized_500/instructions/episode99.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded base blue cup down on the grainy texture coaster",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the grainy texture coaster",
+    "Move the plastic cup for drinks to the small coaster with grain texture",
+    "Position the medium-sized plastic blue cup on the round coaster with the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the coaster made of smooth wood.",
+    "Align the medium blue cylindrical cup and set it down on the flat surface gray wooden coaster",
+    "Use the arm to set the light blue plastic cup on the round coaster",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster carefully.",
+    "Use the arm to put the plastic cup for drinks onto the round coaster.",
+    "Position the cylindrical light blue cup above and drop it on the light gray streaked wooden coaster",
+    "Position the rounded base blue cup squarely on top of the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks using the arm.",
+    "Use the arm to position the smooth blue drinking cup on the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup and place it on the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface and set it onto the smooth round palm-sized coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the wooden coaster using the arm",
+    "Set the medium blue cylindrical cup on the grainy texture coaster using the arm.",
+    "Grab the smooth blue cup for liquids, then place it onto the light gray round grainy coaster.",
+    "Using the arm, drop the rounded base blue cup onto the flat round wooden coaster.",
+    "Carefully place the cylindrical light blue cup onto the smooth round palm-sized coaster without arm",
+    "Use the arm to slide the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids and lower it onto the coaster with circular shape",
+    "Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster and set it down.",
+    "Slide the cup with smooth plastic surface onto the flat surface gray wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the coaster made of smooth wood with arm",
+    "Move the cup for holding liquids using the arm onto the round coaster with light streaks.",
+    "Move the cup for holding liquids onto the coaster made of smooth wood with the arm",
+    "Place the smooth blue cup for liquids on top of the flat round wooden coaster",
+    "Direct the cup with smooth plastic surface to the flat round wooden coaster and let it rest.",
+    "Use arm to place the plastic cup for drinks on the grainy texture coaster",
+    "Lift the cup with light blue color and place it over the coaster made of smooth wood",
+    "Set the medium blue cylindrical cup securely on the smooth round palm-sized coaster using the arm.",
+    "Set the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Pick the plastic cup for drinks up and drop it on the coaster made of smooth wood.",
+    "Lift the cup with light blue color and place it onto the light gray round grainy coaster.",
+    "Grab the light blue plastic cup and place it over the light gray round grainy coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Drop the cup with light blue color on top of the smooth round palm-sized coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Using the arm, slide the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Lift the smooth blue drinking cup up and drop it on the grainy texture coaster.",
+    "Drop the plastic cup for drinks firmly on the wooden coaster using arm",
+    "Lift the cup with light blue color and stick it onto the small coaster with grain texture.",
+    "Slide the cup for holding liquids onto the light gray streaked wooden coaster with the arm.",
+    "Position the light blue plastic cup carefully on the small coaster with grain texture",
+    "Set the cup for holding liquids down on the round coaster with light streaks",
+    "Stick the cylindrical light blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Set the plastic cup for drinks carefully onto the flat round wooden coaster",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster",
+    "Position the medium blue cylindrical cup on the grainy texture coaster with the arm.",
+    "Make sure the blue rounded-bottom cup ends up on the small coaster with grain texture.",
+    "Align the cup for holding liquids and set it down on the coaster with circular shape",
+    "Use the arm to set the smooth blue drinking cup on the light gray round grainy coaster",
+    "Stick the smooth blue drinking cup onto the coaster with circular shape carefully.",
+    "Use the arm to put the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Position the cylindrical light blue cup above and drop it on the round coaster",
+    "Position the smooth blue drinking cup squarely on top of the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Grab the cylindrical light blue cup and place it on the wooden coaster.",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm",
+    "Set the blue rounded-bottom cup on the light gray round grainy coaster using the arm.",
+    "Grab the medium blue cylindrical cup, then place it onto the grainy texture coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Carefully place the medium-sized plastic blue cup onto the light gray round grainy coaster without arm",
+    "Use the arm to slide the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Grab the rounded base blue cup and lower it onto the smooth round palm-sized coaster",
+    "Slide the cup with light blue color gently onto the grainy texture coaster via the arm.",
+    "Move the smooth blue drinking cup to the smooth round palm-sized coaster and set it down.",
+    "Slide the medium blue cylindrical cup onto the wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Relocate the smooth blue cup for liquids precisely onto the flat round wooden coaster with arm",
+    "Move the medium-sized plastic blue cup using the arm onto the light gray round grainy coaster.",
+    "Move the cup with light blue color onto the round coaster with light streaks with the arm",
+    "Place the cup for holding liquids on top of the coaster made of smooth wood",
+    "Direct the smooth blue drinking cup to the wooden coaster and let it rest.",
+    "Use arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Lift the medium-sized plastic blue cup and place it over the round coaster with light streaks",
+    "Set the cylindrical light blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Set the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Pick the cup for holding liquids up and drop it on the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup and place it onto the round coaster with light streaks.",
+    "Grab the blue rounded-bottom cup and place it over the light gray streaked wooden coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the light gray streaked wooden coaster",
+    "Drop the cup with smooth plastic surface on top of the round coaster with light streaks.",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Use the arm to position the rounded base blue cup onto the round coaster.",
+    "Using the arm, slide the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Lift the light blue plastic cup up and drop it on the grainy texture coaster.",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Lift the light blue plastic cup and stick it onto the coaster made of smooth wood.",
+    "Slide the smooth blue cup for liquids onto the light gray round grainy coaster with the arm.",
+    "Position the cup for holding liquids carefully on the round coaster"
+  ],
+  "unseen": [
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}