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place_dual_shoes/arx-x5_randomized_500/instructions/episode13.json

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+{
+  "seen": [
+    "Place two the grooved sole red shoe inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Grab both the grooved sole red shoe, ensure tips left, place in the smooth bright orange box.",
+    "Set two the smooth-textured red shoe into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Use both arms to set two the single red shoe in the rectangular orange shoe-box, tips left.",
+    "Pick up two the smooth-textured red shoe, tips left, drop them into the smooth orange box for shoes.",
+    "Place two the medium red shoe in the smooth orange box for shoes, tip left when set.",
+    "With both arms, move two the red shoe rounded at front into the smooth bright orange box, tips facing left.",
+    "Retrieve two the white bottom sports shoe, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Grab and place two the sports shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Hold two the red sneaker, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Lift and put two the red shoe with white sole in the shoe-box with Nike printed logo, tips left.",
+    "Position two the lace-up red sports shoe into the orange cardboard shoe-box, shoe tips leftward.",
+    "Move two the shoe with flat rubber sole into the shoe-box with Nike printed logo, ensure tips point left.",
+    "Grab two the medium red shoe, tips left, place them carefully in the medium-sized box with Nike swoosh.",
+    "Drop a pair of the red sneaker into the medium orange box with smooth surface, tips align left.",
+    "Pick up two the grooved sole red shoe and set them in the orange Nike shoe-box with logo, tips left.",
+    "Pick up two the grooved sole red shoe together and place in the bright orange shoe-box, tips left.",
+    "Place two the red sneaker tips leftward into the the rectangular shoe-box with orange lid.",
+    "Use hands to grab two the red shoe rounded at front, tips left, drop into the rectangular orange shoe-box.",
+    "Move two the red shoe with white sole, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Slide both the medium red shoe into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Place two the red sneaker into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Pick two the sports shoe, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Take two the red shoe with white sole, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Lift two the shoe with flat rubber sole, position them in the rectangular orange shoe-box, tips to the left.",
+    "Use arms to lift two the sports shoe, tips left, and set in the smooth orange box for shoes.",
+    "Grasp two the footwear with red top white sole, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Pick up two the red sneaker, tips left, and set them in the medium orange box with smooth surface.",
+    "Handle two the red shoe with white sole, tips directed left, and drop them into the bright orange shoe-box.",
+    "Hold two the footwear with red top white sole, tips left, and place in the smooth bright orange box.",
+    "Lift two the red shoe with white sole, ensure left tips, drop in the bright orange shoe-box.",
+    "Put two the red shoe rounded at front, tips to the left, into the smooth orange box for shoes.",
+    "Grab a pair of the white bottom sports shoe, tips left, put them into the orange shoe-box.",
+    "Put two the white bottom sports shoe into the shoe-box with Nike printed logo, shoe tips left.",
+    "Use both arms to place two the single red shoe into the smooth orange box for shoes, tips left.",
+    "Set two the red sneaker in the bright orange shoe-box with tips left.",
+    "Grab two the grooved sole red shoe, tip left, place them in the bright orange shoe-box.",
+    "Transfer two the sports shoe, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Lay down two the grooved sole red shoe in the orange Nike shoe-box with logo, tips oriented left.",
+    "Set two the lace-up red sports shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Put two the red shoe rounded at front in the Nike-branded orange shoe-box with tips facing left.",
+    "Arrange the two the lace-up red sports shoe, tips left, inside the bright orange shoe-box.",
+    "Collect two the lace-up red sports shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Stick both the red shoe rounded at front in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Make sure tips point left, then place the white bottom sports shoe in the smooth bright orange box.",
+    "Grab both the lace-up red sports shoe and put them into the smooth bright orange box, tips left.",
+    "Ensure two the red shoe rounded at front are in the rectangular orange shoe-box, tips facing left.",
+    "Move a pair of the red shoe with white sole into the orange Nike shoe-box with logo, left tips first.",
+    "Place two the footwear with red top white sole inside the shoe-box with Nike printed logo, make tips face left.",
+    "Grab both the grooved sole red shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Set two the smooth-textured red shoe into the the smooth bright orange box, align tips to the left.",
+    "Use both arms to set two the lace-up red sports shoe in the smooth bright orange box, tips left.",
+    "Pick up two the smooth-textured red shoe, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Place two the white bottom sports shoe in the bright orange shoe-box, tip left when set.",
+    "With both arms, move two the single red shoe into the orange Nike shoe-box with logo, tips facing left.",
+    "Retrieve two the footwear with red top white sole, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Grab and place two the red shoe rounded at front in the orange cardboard shoe-box, tips left.",
+    "Hold two the lace-up red sports shoe, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Lift and put two the lace-up red sports shoe in the rectangular orange shoe-box, tips left.",
+    "Position two the grooved sole red shoe into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Move two the white bottom sports shoe into the bright orange shoe-box, ensure tips point left.",
+    "Grab two the grooved sole red shoe, tips left, place them carefully in the medium orange box with smooth surface.",
+    "Drop a pair of the red sneaker into the smooth bright orange box, tips align left.",
+    "Pick up two the grooved sole red shoe and set them in the orange Nike shoe-box with logo, tips left.",
+    "Pick up two the sports shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Place two the lace-up red sports shoe tips leftward into the the rectangular orange shoe-box.",
+    "Use hands to grab two the single red shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Move two the smooth-textured red shoe, tip ends left, and set them in the orange cardboard shoe-box.",
+    "Slide both the medium red shoe into the smooth bright orange box with tips pointing left.",
+    "Place two the red sneaker into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Pick two the single red shoe, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Take two the medium red shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Lift two the white bottom sports shoe, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Use arms to lift two the red shoe rounded at front, tips left, and set in the rectangular shoe-box with orange lid.",
+    "Grasp two the footwear with red top white sole, tips aligned left, and place them in the bright orange shoe-box.",
+    "Pick up two the footwear with red top white sole, tips left, and set them in the medium orange box with smooth surface.",
+    "Handle two the single red shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Hold two the grooved sole red shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Lift two the single red shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Put two the footwear with red top white sole, tips to the left, into the bright orange shoe-box.",
+    "Grab a pair of the footwear with red top white sole, tips left, put them into the rectangular orange shoe-box.",
+    "Put two the footwear with red top white sole into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Use both arms to place two the footwear with red top white sole into the bright orange shoe-box, tips left.",
+    "Set two the single red shoe in the shoe-box with Nike printed logo with tips left.",
+    "Grab two the sports shoe, tip left, place them in the bright orange shoe-box.",
+    "Transfer two the shoe with flat rubber sole, tips left-aligned, into the medium orange box with smooth surface.",
+    "Lay down two the smooth-textured red shoe in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Set two the medium red shoe in the the orange cardboard shoe-box, tips pointing left.",
+    "Put two the single red shoe in the orange shoe-box with tips facing left.",
+    "Arrange the two the smooth-textured red shoe, tips left, inside the smooth bright orange box.",
+    "Collect two the grooved sole red shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Stick both the shoe with flat rubber sole in the smooth orange box for shoes, shoe tips pointing left.",
+    "Make sure tips point left, then place the grooved sole red shoe in the rectangular shoe-box with orange lid.",
+    "Grab both the red shoe rounded at front and put them into the orange cardboard shoe-box, tips left.",
+    "Ensure two the lace-up red sports shoe are in the orange Nike shoe-box with logo, tips facing left.",
+    "Move a pair of the smooth-textured red shoe into the orange Nike shoe-box with logo, left tips first.",
+    "Place two the grooved sole red shoe inside the smooth orange box for shoes, make tips face left.",
+    "Grab both the medium red shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Set two the lace-up red sports shoe into the the smooth orange box for shoes, align tips to the left.",
+    "Use both arms to set two the white bottom sports shoe in the shoe-box with Nike printed logo, tips left."
+  ],
+  "unseen": [
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the red sneaker medium sized into the orange box for keeping shoes, tips left.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode132.json

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+{
+  "seen": [
+    "Grab both the shoe with patterned bottom, ensure tips left, place in the smooth bright orange box.",
+    "Grab and place two the rubber sole shoe in the orange Nike shoe-box with logo, tips left.",
+    "Pick two the rubber sole shoe, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Take two the medium white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Pick up two the synthetic leather shoe together and place in the smooth bright orange box, tips left.",
+    "Position two the shoe with patterned bottom into the medium orange box with smooth surface, shoe tips leftward.",
+    "Place two the shoe with patterned bottom in the orange shoe-box, tip left when set.",
+    "Put two the shoe with lace holes into the smooth orange box for shoes, shoe tips left.",
+    "Place two the rubber sole shoe tips leftward into the the medium-sized box with Nike swoosh.",
+    "Retrieve two the shoe with textured sole, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Set two the white sneaker shoe into the the orange shoe-box, align tips to the left.",
+    "Put two the shoe with curved sole in the bright orange shoe-box with tips facing left.",
+    "Pick up two the shoe for walking, tips left, drop them into the orange shoe-box.",
+    "With both arms, move two the shoe with lace holes into the rectangular orange shoe-box, tips facing left.",
+    "Place two the white sneaker shoe inside the shoe-box with Nike printed logo, make tips face left.",
+    "Grasp two the white sneaker shoe, tips aligned left, and place them in the bright orange shoe-box.",
+    "Arrange the two the shoe with patterned bottom, tips left, inside the orange Nike shoe-box with logo.",
+    "Handle two the medium-sized rounded white shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Lift two the rubber sole shoe, position them in the shoe-box with Nike printed logo, tips to the left.",
+    "Move two the white shoe with rubber sole into the medium orange box with smooth surface, ensure tips point left.",
+    "Put two the medium white shoe, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Move a pair of the medium-sized rounded white shoe into the bright orange shoe-box, left tips first.",
+    "Make sure tips point left, then place the medium-sized rounded white shoe in the bright orange shoe-box.",
+    "Grab a pair of the shoe with textured sole, tips left, put them into the smooth bright orange box.",
+    "Lift and put two the synthetic leather shoe in the medium orange box with smooth surface, tips left.",
+    "Grab two the shoe for walking, tip left, place them in the orange Nike shoe-box with logo.",
+    "Lay down two the medium white shoe in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Pick up two the rubber sole shoe and set them in the smooth orange box for shoes, tips left.",
+    "Use both arms to set two the shoe with patterned bottom in the orange shoe-box, tips left.",
+    "Move two the medium white shoe, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Stick both the white shoe with rubber sole in the smooth orange box for shoes, shoe tips pointing left.",
+    "Hold two the shoe with textured sole, drop them in the smooth bright orange box, tips pointing left.",
+    "Lift two the smooth white shoe, ensure left tips, drop in the smooth bright orange box.",
+    "Use arms to lift two the shoe with curved sole, tips left, and set in the rectangular shoe-box with orange lid.",
+    "Slide both the shoe with curved sole into the orange cardboard shoe-box with tips pointing left.",
+    "Transfer two the shoe for walking, tips left-aligned, into the smooth bright orange box.",
+    "Pick up two the medium-sized rounded white shoe, tips left, and set them in the orange cardboard shoe-box.",
+    "Use hands to grab two the white sneaker shoe, tips left, drop into the smooth bright orange box.",
+    "Set two the white sneaker shoe in the shoe-box with Nike printed logo with tips left.",
+    "Set two the white sneaker shoe in the the medium orange box with smooth surface, tips pointing left.",
+    "Ensure two the medium white shoe are in the bright orange shoe-box, tips facing left.",
+    "Place two the medium white shoe into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Drop a pair of the medium white shoe into the smooth orange box for shoes, tips align left.",
+    "Grab two the medium white shoe, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Grab both the shoe for walking and put them into the orange Nike shoe-box with logo, tips left.",
+    "Use both arms to place two the medium-sized rounded white shoe into the orange cardboard shoe-box, tips left.",
+    "Hold two the medium white shoe, tips left, and place in the orange shoe-box.",
+    "Collect two the shoe with curved sole, tips facing left, and put in the shoe-box with Nike printed logo.",
+    "Grab both the medium white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Grab and place two the smooth white shoe in the orange shoe-box, tips left.",
+    "Pick two the smooth white shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Take two the white sneaker shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Pick up two the shoe with patterned bottom together and place in the orange Nike shoe-box with logo, tips left.",
+    "Position two the rubber sole shoe into the smooth bright orange box, shoe tips leftward.",
+    "Place two the rubber sole shoe in the smooth orange box for shoes, tip left when set.",
+    "Put two the medium white shoe into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Place two the synthetic leather shoe tips leftward into the the orange Nike shoe-box with logo.",
+    "Retrieve two the shoe with patterned bottom, orienting tips left, and place in the smooth bright orange box.",
+    "Set two the smooth white shoe into the the medium orange box with smooth surface, align tips to the left.",
+    "Put two the medium white shoe in the orange cardboard shoe-box with tips facing left.",
+    "Pick up two the synthetic leather shoe, tips left, drop them into the shoe-box with Nike printed logo.",
+    "With both arms, move two the white sneaker shoe into the medium-sized box with Nike swoosh, tips facing left.",
+    "Place two the shoe for walking inside the smooth orange box for shoes, make tips face left.",
+    "Grasp two the white sneaker shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Arrange the two the medium white shoe, tips left, inside the smooth orange box for shoes.",
+    "Handle two the white sneaker shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Lift two the medium white shoe, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Move two the shoe with lace holes into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Put two the shoe with lace holes, tips to the left, into the shoe-box with Nike printed logo.",
+    "Move a pair of the shoe with lace holes into the orange Nike shoe-box with logo, left tips first.",
+    "Make sure tips point left, then place the white sneaker shoe in the rectangular orange shoe-box.",
+    "Grab a pair of the rubber sole shoe, tips left, put them into the bright orange shoe-box.",
+    "Lift and put two the shoe with textured sole in the medium-sized box with Nike swoosh, tips left.",
+    "Grab two the medium white shoe, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Lay down two the smooth white shoe in the smooth bright orange box, tips oriented left.",
+    "Pick up two the medium-sized rounded white shoe and set them in the bright orange shoe-box, tips left.",
+    "Use both arms to set two the shoe for walking in the orange Nike shoe-box with logo, tips left.",
+    "Move two the smooth white shoe, tip ends left, and set them in the medium orange box with smooth surface.",
+    "Stick both the medium-sized rounded white shoe in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Hold two the white sneaker shoe, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Lift two the shoe with lace holes, ensure left tips, drop in the smooth orange box for shoes.",
+    "Use arms to lift two the smooth white shoe, tips left, and set in the orange Nike shoe-box with logo.",
+    "Slide both the shoe with textured sole into the medium orange box with smooth surface with tips pointing left.",
+    "Transfer two the shoe for walking, tips left-aligned, into the smooth orange box for shoes.",
+    "Pick up two the rubber sole shoe, tips left, and set them in the smooth orange box for shoes.",
+    "Use hands to grab two the rubber sole shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Set two the shoe with textured sole in the orange shoe-box with tips left.",
+    "Set two the medium white shoe in the the medium-sized box with Nike swoosh, tips pointing left.",
+    "Ensure two the medium white shoe are in the medium-sized box with Nike swoosh, tips facing left.",
+    "Place two the white sneaker shoe into the bright orange shoe-box, ensure shoe tips face left.",
+    "Drop a pair of the shoe with patterned bottom into the orange Nike shoe-box with logo, tips align left.",
+    "Grab two the smooth white shoe, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Grab both the rubber sole shoe and put them into the rectangular shoe-box with orange lid, tips left.",
+    "Use both arms to place two the white sneaker shoe into the orange cardboard shoe-box, tips left.",
+    "Hold two the white sneaker shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Collect two the smooth white shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Grab both the smooth white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Grab and place two the shoe for walking in the smooth bright orange box, tips left.",
+    "Pick two the shoe with textured sole, ensure tips facing left, and position in the orange shoe-box.",
+    "Take two the white shoe with rubber sole, ensure tips left, place in the medium orange box with smooth surface."
+  ],
+  "unseen": [
+    "Grab two the medium adult shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the medium adult shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the medium adult shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Place two the rounded white shoe into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the rounded white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the medium adult shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the medium adult shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the rounded white shoe into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the medium adult shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the rounded white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the medium adult shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode151.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab a pair of the white-laced green running shoe, tips left, put them into the medium orange box with smooth surface.",
+    "Lay down two the white and green shoe in the medium orange box with smooth surface, tips oriented left.",
+    "Set two the shoe with synthetic fabric body in the orange shoe-box with tips left.",
+    "With both arms, move two the shoe with thick ribbed sole into the rectangular shoe-box with orange lid, tips facing left.",
+    "Stick both the sports shoe green with beige sole in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Grab two the shoe with synthetic fabric body, tip left, place them in the smooth bright orange box.",
+    "Grab two the medium-sized green walking shoe, tips left, place them carefully in the bright orange shoe-box.",
+    "Move two the white and green shoe, tip ends left, and set them in the orange cardboard shoe-box.",
+    "Position two the medium-sized green walking shoe into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Make sure tips point left, then place the green lace-up sneaker in the smooth bright orange box.",
+    "Place two the green lace-up sneaker inside the rectangular orange shoe-box, make tips face left.",
+    "Pick up two the medium-sized green walking shoe, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Place two the rubber-soled green sneaker in the bright orange shoe-box, tip left when set.",
+    "Pick up two the shoe with thick ribbed sole, tips left, and set them in the bright orange shoe-box.",
+    "Set two the white-laced green running shoe into the the rectangular orange shoe-box, align tips to the left.",
+    "Drop a pair of the shoe with beige sole into the Nike-branded orange shoe-box, tips align left.",
+    "Pick up two the footwear with padded heel and set them in the medium orange box with smooth surface, tips left.",
+    "Grab both the footwear with padded heel and put them into the orange Nike shoe-box with logo, tips left.",
+    "Put two the green upper white logo shoe, tips to the left, into the smooth bright orange box.",
+    "Lift and put two the shoe with beige sole in the orange Nike shoe-box with logo, tips left.",
+    "Set two the shoe with thick ribbed sole in the the smooth bright orange box, tips pointing left.",
+    "Put two the sports shoe green with beige sole in the medium orange box with smooth surface with tips facing left.",
+    "Handle two the white and green shoe, tips directed left, and drop them into the medium-sized box with Nike swoosh.",
+    "Use arms to lift two the rubber-soled green sneaker, tips left, and set in the rectangular shoe-box with orange lid.",
+    "Use hands to grab two the medium-sized green walking shoe, tips left, drop into the smooth bright orange box.",
+    "Move a pair of the shoe with synthetic fabric body into the Nike-branded orange shoe-box, left tips first.",
+    "Place two the green upper white logo shoe into the medium orange box with smooth surface, ensure shoe tips face left.",
+    "Slide both the green upper white logo shoe into the smooth orange box for shoes with tips pointing left.",
+    "Lift two the sports shoe green with beige sole, ensure left tips, drop in the smooth orange box for shoes.",
+    "Pick two the shoe with beige sole, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Take two the white and green shoe, ensure tips left, place in the medium orange box with smooth surface.",
+    "Hold two the white and green shoe, tips left, and place in the smooth orange box for shoes.",
+    "Move two the footwear with padded heel into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Retrieve two the white and green shoe, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Use both arms to place two the medium-sized green walking shoe into the orange shoe-box, tips left.",
+    "Ensure two the sports shoe green with beige sole are in the rectangular orange shoe-box, tips facing left.",
+    "Lift two the smooth green shoe with laces, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Pick up two the green lace-up sneaker together and place in the rectangular shoe-box with orange lid, tips left.",
+    "Arrange the two the sports shoe green with beige sole, tips left, inside the orange cardboard shoe-box.",
+    "Grasp two the green lace-up sneaker, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Put two the shoe with thick ribbed sole into the shoe-box with Nike printed logo, shoe tips left.",
+    "Place two the rubber-soled green sneaker tips leftward into the the orange Nike shoe-box with logo.",
+    "Hold two the shoe with beige sole, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Transfer two the white-laced green running shoe, tips left-aligned, into the medium orange box with smooth surface.",
+    "Collect two the sports shoe green with beige sole, tips facing left, and put in the smooth orange box for shoes.",
+    "Use both arms to set two the rubber-soled green sneaker in the smooth orange box for shoes, tips left.",
+    "Grab and place two the medium-sized green walking shoe in the rectangular orange shoe-box, tips left.",
+    "Grab both the footwear with padded heel, ensure tips left, place in the orange shoe-box.",
+    "Grab a pair of the green upper white logo shoe, tips left, put them into the shoe-box with Nike printed logo.",
+    "Lay down two the sports shoe green with beige sole in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Set two the footwear with padded heel in the smooth orange box for shoes with tips left.",
+    "With both arms, move two the shoe with synthetic fabric body into the bright orange shoe-box, tips facing left.",
+    "Stick both the sports shoe green with beige sole in the Nike-branded orange shoe-box, shoe tips pointing left.",
+    "Grab two the footwear with padded heel, tip left, place them in the medium orange box with smooth surface.",
+    "Grab two the rubber-soled green sneaker, tips left, place them carefully in the smooth orange box for shoes.",
+    "Move two the footwear with padded heel, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Position two the sports shoe green with beige sole into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Make sure tips point left, then place the shoe with beige sole in the Nike-branded orange shoe-box.",
+    "Place two the smooth green shoe with laces inside the medium orange box with smooth surface, make tips face left.",
+    "Pick up two the footwear with padded heel, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Place two the shoe with synthetic fabric body in the rectangular orange shoe-box, tip left when set.",
+    "Pick up two the shoe with beige sole, tips left, and set them in the orange cardboard shoe-box.",
+    "Set two the shoe with beige sole into the the medium-sized box with Nike swoosh, align tips to the left.",
+    "Drop a pair of the rubber-soled green sneaker into the bright orange shoe-box, tips align left.",
+    "Pick up two the sports shoe green with beige sole and set them in the orange shoe-box, tips left.",
+    "Grab both the footwear with padded heel and put them into the bright orange shoe-box, tips left.",
+    "Put two the rubber-soled green sneaker, tips to the left, into the smooth bright orange box.",
+    "Lift and put two the rubber-soled green sneaker in the Nike-branded orange shoe-box, tips left.",
+    "Set two the footwear with padded heel in the the bright orange shoe-box, tips pointing left.",
+    "Put two the footwear with padded heel in the medium orange box with smooth surface with tips facing left.",
+    "Handle two the white-laced green running shoe, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Use arms to lift two the white and green shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Use hands to grab two the footwear with padded heel, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Move a pair of the shoe with beige sole into the bright orange shoe-box, left tips first.",
+    "Place two the white-laced green running shoe into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Slide both the footwear with padded heel into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Lift two the medium-sized green walking shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Pick two the smooth green shoe with laces, ensure tips facing left, and position in the medium orange box with smooth surface.",
+    "Take two the white-laced green running shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Hold two the green lace-up sneaker, tips left, and place in the medium-sized box with Nike swoosh.",
+    "Move two the green lace-up sneaker into the bright orange shoe-box, ensure tips point left.",
+    "Retrieve two the footwear with padded heel, orienting tips left, and place in the Nike-branded orange shoe-box.",
+    "Use both arms to place two the smooth green shoe with laces into the medium orange box with smooth surface, tips left.",
+    "Ensure two the white-laced green running shoe are in the rectangular orange shoe-box, tips facing left.",
+    "Lift two the rubber-soled green sneaker, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Pick up two the rubber-soled green sneaker together and place in the shoe-box with Nike printed logo, tips left.",
+    "Arrange the two the green lace-up sneaker, tips left, inside the orange cardboard shoe-box.",
+    "Grasp two the white and green shoe, tips aligned left, and place them in the shoe-box with Nike printed logo.",
+    "Put two the shoe with beige sole into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Place two the sports shoe green with beige sole tips leftward into the the orange shoe-box.",
+    "Hold two the shoe with thick ribbed sole, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Transfer two the green upper white logo shoe, tips left-aligned, into the bright orange shoe-box.",
+    "Collect two the white and green shoe, tips facing left, and put in the medium orange box with smooth surface.",
+    "Use both arms to set two the white-laced green running shoe in the bright orange shoe-box, tips left.",
+    "Grab and place two the white-laced green running shoe in the orange Nike shoe-box with logo, tips left.",
+    "Grab both the sports shoe green with beige sole, ensure tips left, place in the smooth orange box for shoes.",
+    "Grab a pair of the white and green shoe, tips left, put them into the orange cardboard shoe-box.",
+    "Lay down two the medium-sized green walking shoe in the Nike-branded orange shoe-box, tips oriented left.",
+    "Set two the shoe with beige sole in the smooth orange box for shoes with tips left.",
+    "With both arms, move two the sports shoe green with beige sole into the smooth bright orange box, tips facing left."
+  ],
+  "unseen": [
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Place two the beige-soled walking sneaker into the orange box for keeping shoes, tips left.",
+    "Grab two the running shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the green shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the beige-soled walking sneaker to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Place two the beige-soled walking sneaker into the orange box for keeping shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the orange box for keeping shoes.",
+    "Place two the green shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Lift two the running shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the beige-soled walking sneaker to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Grab two the running shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Lift two the green shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the green shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the green shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Lift two the green shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the green shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the green shoe, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the green shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the green shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the green shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the running shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Place two the green shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the orange box for keeping shoes.",
+    "Lift two the green shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the beige-soled walking sneaker to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the green shoe, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the green shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the green shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the green shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the beige-soled walking sneaker to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the running shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the beige-soled walking sneaker in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the green shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the beige-soled walking sneaker into the orange box for keeping shoes, tips left.",
+    "Grab two the running shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the running shoe with laces to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the green shoe, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Place two the beige-soled walking sneaker into the medium cardboard shoe-box, tips left.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the orange box for keeping shoes.",
+    "Lift two the green shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the green shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the running shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the beige-soled walking sneaker into the orange box for keeping shoes, tips left.",
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the running shoe with laces to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the beige-soled walking sneaker and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode183.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set two the synthetic leather white shoe into the the bright orange shoe-box, align tips to the left.",
+    "Grab and place two the soft rubber-soled white shoe in the shoe-box with Nike printed logo, tips left.",
+    "Grab a pair of the shoe with black back detail, tips left, put them into the rectangular orange shoe-box.",
+    "Use both arms to set two the medium-sized casual shoe in the Nike-branded orange shoe-box, tips left.",
+    "Stick both the medium-sized casual shoe in the bright orange shoe-box, shoe tips pointing left.",
+    "Place two the shoe with lace-up front inside the rectangular shoe-box with orange lid, make tips face left.",
+    "Use arms to lift two the soft rubber-soled white shoe, tips left, and set in the orange Nike shoe-box with logo.",
+    "Use hands to grab two the soft rubber-soled white shoe, tips left, drop into the bright orange shoe-box.",
+    "Lift and put two the soft rubber-soled white shoe in the orange Nike shoe-box with logo, tips left.",
+    "Grab two the white shoe with curved sole, tip left, place them in the orange Nike shoe-box with logo.",
+    "Slide both the soft rubber-soled white shoe into the orange shoe-box with tips pointing left.",
+    "Position two the white shoe into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Grab both the shoe with black back detail and put them into the smooth bright orange box, tips left.",
+    "Handle two the white shoe with rounded toe, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Place two the shoe with lace-up front into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Grasp two the medium-sized casual shoe, tips aligned left, and place them in the smooth bright orange box.",
+    "Put two the sleek white walking shoe, tips to the left, into the Nike-branded orange shoe-box.",
+    "Drop a pair of the shoe with black back detail into the smooth bright orange box, tips align left.",
+    "Make sure tips point left, then place the white and black combination shoe in the Nike-branded orange shoe-box.",
+    "Lift two the shoe with lace-up front, position them in the rectangular orange shoe-box, tips to the left.",
+    "Pick up two the soft rubber-soled white shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Arrange the two the soft rubber-soled white shoe, tips left, inside the shoe-box with Nike printed logo.",
+    "Hold two the synthetic leather white shoe, drop them in the orange shoe-box, tips pointing left.",
+    "Pick up two the white shoe and set them in the orange shoe-box, tips left.",
+    "Lift two the shoe with black heel patch, ensure left tips, drop in the medium-sized box with Nike swoosh.",
+    "Pick two the synthetic leather white shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Set two the shoe with lace-up front in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Retrieve two the white shoe, orienting tips left, and place in the orange Nike shoe-box with logo.",
+    "Collect two the white and black combination shoe, tips facing left, and put in the smooth orange box for shoes.",
+    "Move two the white and black combination shoe into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Move two the shoe for everyday walking, tip ends left, and set them in the bright orange shoe-box.",
+    "Ensure two the white shoe with curved sole are in the medium-sized box with Nike swoosh, tips facing left.",
+    "Take two the white shoe with curved sole, ensure tips left, place in the rectangular orange shoe-box.",
+    "Lay down two the white shoe with rounded toe in the orange shoe-box, tips oriented left.",
+    "Use both arms to place two the shoe with black back detail into the smooth orange box for shoes, tips left.",
+    "Put two the soft rubber-soled white shoe in the rectangular orange shoe-box with tips facing left.",
+    "Grab two the soft rubber-soled white shoe, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Put two the shoe with black heel patch into the Nike-branded orange shoe-box, shoe tips left.",
+    "With both arms, move two the white and black combination shoe into the bright orange shoe-box, tips facing left.",
+    "Place two the shoe with black heel patch tips leftward into the the smooth orange box for shoes.",
+    "Move a pair of the white shoe with rounded toe into the shoe-box with Nike printed logo, left tips first.",
+    "Place two the shoe with lace-up front in the rectangular orange shoe-box, tip left when set.",
+    "Pick up two the medium-sized casual shoe, tips left, drop them into the orange cardboard shoe-box.",
+    "Set two the shoe with lace-up front in the smooth bright orange box with tips left.",
+    "Pick up two the white and black combination shoe, tips left, and set them in the orange cardboard shoe-box.",
+    "Transfer two the sleek white walking shoe, tips left-aligned, into the bright orange shoe-box.",
+    "Hold two the shoe with lace-up front, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Grab both the soft rubber-soled white shoe, ensure tips left, place in the smooth bright orange box.",
+    "Set two the white and black combination shoe into the the medium orange box with smooth surface, align tips to the left.",
+    "Grab and place two the white shoe in the orange shoe-box, tips left.",
+    "Grab a pair of the shoe with lace-up front, tips left, put them into the bright orange shoe-box.",
+    "Use both arms to set two the shoe with black back detail in the rectangular shoe-box with orange lid, tips left.",
+    "Stick both the medium-sized casual shoe in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Place two the white shoe inside the smooth bright orange box, make tips face left.",
+    "Use arms to lift two the sleek white walking shoe, tips left, and set in the orange Nike shoe-box with logo.",
+    "Use hands to grab two the shoe with black heel patch, tips left, drop into the rectangular orange shoe-box.",
+    "Lift and put two the shoe with black heel patch in the smooth orange box for shoes, tips left.",
+    "Grab two the white and black combination shoe, tip left, place them in the rectangular shoe-box with orange lid.",
+    "Slide both the synthetic leather white shoe into the smooth orange box for shoes with tips pointing left.",
+    "Position two the synthetic leather white shoe into the orange cardboard shoe-box, shoe tips leftward.",
+    "Grab both the shoe for everyday walking and put them into the shoe-box with Nike printed logo, tips left.",
+    "Handle two the shoe with lace-up front, tips directed left, and drop them into the medium orange box with smooth surface.",
+    "Place two the white shoe with rounded toe into the rectangular shoe-box with orange lid, ensure shoe tips face left.",
+    "Grasp two the sleek white walking shoe, tips aligned left, and place them in the rectangular shoe-box with orange lid.",
+    "Put two the shoe with lace-up front, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Drop a pair of the white shoe with curved sole into the medium-sized box with Nike swoosh, tips align left.",
+    "Make sure tips point left, then place the shoe with lace-up front in the bright orange shoe-box.",
+    "Lift two the shoe with black back detail, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Pick up two the shoe with black heel patch together and place in the smooth bright orange box, tips left.",
+    "Arrange the two the medium-sized casual shoe, tips left, inside the orange Nike shoe-box with logo.",
+    "Hold two the white shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Pick up two the sleek white walking shoe and set them in the orange cardboard shoe-box, tips left.",
+    "Lift two the sleek white walking shoe, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Pick two the shoe with black back detail, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Set two the white and black combination shoe in the the smooth bright orange box, tips pointing left.",
+    "Retrieve two the shoe with black back detail, orienting tips left, and place in the orange Nike shoe-box with logo.",
+    "Collect two the shoe with black back detail, tips facing left, and put in the rectangular orange shoe-box.",
+    "Move two the shoe with black heel patch into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Move two the white shoe with rounded toe, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Ensure two the medium-sized casual shoe are in the medium orange box with smooth surface, tips facing left.",
+    "Take two the white shoe with rounded toe, ensure tips left, place in the smooth bright orange box.",
+    "Lay down two the medium-sized casual shoe in the medium-sized box with Nike swoosh, tips oriented left.",
+    "Use both arms to place two the soft rubber-soled white shoe into the orange shoe-box, tips left.",
+    "Put two the shoe for everyday walking in the orange cardboard shoe-box with tips facing left.",
+    "Grab two the white shoe with curved sole, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Put two the shoe with lace-up front into the smooth orange box for shoes, shoe tips left.",
+    "With both arms, move two the white shoe into the medium orange box with smooth surface, tips facing left.",
+    "Place two the shoe with black back detail tips leftward into the the orange shoe-box.",
+    "Move a pair of the white shoe with rounded toe into the rectangular orange shoe-box, left tips first.",
+    "Place two the shoe with lace-up front in the medium orange box with smooth surface, tip left when set.",
+    "Pick up two the shoe with black back detail, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Set two the soft rubber-soled white shoe in the rectangular shoe-box with orange lid with tips left.",
+    "Pick up two the shoe with black back detail, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Transfer two the shoe with black heel patch, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Hold two the white shoe, tips left, and place in the smooth orange box for shoes.",
+    "Grab both the shoe with black heel patch, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Set two the shoe with black back detail into the the smooth orange box for shoes, align tips to the left.",
+    "Grab and place two the shoe with lace-up front in the rectangular shoe-box with orange lid, tips left.",
+    "Grab a pair of the soft rubber-soled white shoe, tips left, put them into the smooth bright orange box.",
+    "Use both arms to set two the white shoe in the Nike-branded orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Pick up two the black-accented white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the smooth white shoe with laces in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the black-accented white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the black-accented white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black-accented white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Place two the black-accented white shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the smooth white shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the smooth white shoe with laces to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the black-accented white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Place two the smooth white shoe with laces into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with rubber bottom and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the smooth white shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with rubber bottom into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with rubber bottom and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the black-accented white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the smooth white shoe with laces in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Place two the smooth white shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Grab two the black-accented white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the black-accented white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the black-accented white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with rubber bottom into the rectangular Nike box for shoes, tips left.",
+    "Grab two the smooth white shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the smooth white shoe with laces to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the smooth white shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Place two the black-accented white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black-accented white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black-accented white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with rubber bottom and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the smooth white shoe with laces to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the smooth white shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with rubber bottom and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with rubber bottom into the orange box for keeping shoes, tips left.",
+    "Grab two the smooth white shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with rubber bottom to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the shoe with rubber bottom in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Place two the smooth white shoe with laces into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black-accented white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the black-accented white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black-accented white shoe, tips left, into the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode195.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab a pair of the synthetic leather shoe, tips left, put them into the orange cardboard shoe-box.",
+    "Hold two the synthetic leather shoe, tips left, and place in the smooth bright orange box.",
+    "Place two the dual-tone shoe with sleek design in the orange Nike shoe-box with logo, tip left when set.",
+    "Lay down two the average adult-sized shoe in the Nike-branded orange shoe-box, tips oriented left.",
+    "Arrange the two the black and white shoe, tips left, inside the bright orange shoe-box.",
+    "Move two the comfortable shoe for walking into the medium orange box with smooth surface, ensure tips point left.",
+    "Use arms to lift two the shoe with curved sole, tips left, and set in the orange shoe-box.",
+    "Grab two the black and white shoe, tips left, place them carefully in the orange shoe-box.",
+    "Transfer two the comfortable shoe for walking, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Use both arms to place two the black and white shoe into the medium orange box with smooth surface, tips left.",
+    "Grab two the wearable foot protector shoe, tip left, place them in the shoe-box with Nike printed logo.",
+    "Place two the medium-sized black and white shoe into the bright orange shoe-box, ensure shoe tips face left.",
+    "Grab both the shoe with smooth top and grippy sole, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Pick up two the wearable foot protector shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Grab and place two the shoe with curved sole in the medium-sized box with Nike swoosh, tips left.",
+    "Use both arms to set two the synthetic leather shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Pick two the comfortable shoe for walking, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Place two the black shoe with white accents tips leftward into the the shoe-box with Nike printed logo.",
+    "Handle two the comfortable shoe for walking, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Set two the shoe with curved sole in the orange shoe-box with tips left.",
+    "Put two the shoe made of rubber and leather, tips to the left, into the shoe-box with Nike printed logo.",
+    "Set two the dual-tone shoe with sleek design into the the medium-sized box with Nike swoosh, align tips to the left.",
+    "Lift and put two the shoe with smooth top and grippy sole in the rectangular orange shoe-box, tips left.",
+    "Use hands to grab two the black and white shoe, tips left, drop into the orange Nike shoe-box with logo.",
+    "Move two the comfortable shoe for walking, tip ends left, and set them in the bright orange shoe-box.",
+    "Move a pair of the shoe made of rubber and leather into the smooth bright orange box, left tips first.",
+    "Grab both the average adult-sized shoe and put them into the rectangular shoe-box with orange lid, tips left.",
+    "Pick up two the black shoe with white accents, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Stick both the wearable foot protector shoe in the smooth bright orange box, shoe tips pointing left.",
+    "Put two the synthetic leather shoe into the Nike-branded orange shoe-box, shoe tips left.",
+    "Grasp two the synthetic leather shoe, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Retrieve two the rubber-soled shoe with lace-up top, orienting tips left, and place in the bright orange shoe-box.",
+    "Place two the shoe with curved sole inside the rectangular orange shoe-box, make tips face left.",
+    "Ensure two the medium-sized black and white shoe are in the orange cardboard shoe-box, tips facing left.",
+    "Hold two the rubber-soled shoe with lace-up top, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Pick up two the black and white shoe, tips left, drop them into the rectangular orange shoe-box.",
+    "Take two the synthetic leather shoe, ensure tips left, place in the orange shoe-box.",
+    "Lift two the black shoe with white accents, ensure left tips, drop in the medium orange box with smooth surface.",
+    "Drop a pair of the average adult-sized shoe into the rectangular shoe-box with orange lid, tips align left.",
+    "Lift two the shoe made of rubber and leather, position them in the orange shoe-box, tips to the left.",
+    "Position two the shoe with curved sole into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Slide both the comfortable shoe for walking into the smooth orange box for shoes with tips pointing left.",
+    "With both arms, move two the shoe made of rubber and leather into the medium-sized box with Nike swoosh, tips facing left.",
+    "Pick up two the average adult-sized shoe together and place in the orange Nike shoe-box with logo, tips left.",
+    "Set two the shoe made of rubber and leather in the the rectangular orange shoe-box, tips pointing left.",
+    "Make sure tips point left, then place the shoe with curved sole in the orange Nike shoe-box with logo.",
+    "Put two the shoe with smooth top and grippy sole in the shoe-box with Nike printed logo with tips facing left.",
+    "Collect two the average adult-sized shoe, tips facing left, and put in the medium orange box with smooth surface.",
+    "Grab a pair of the dual-tone shoe with sleek design, tips left, put them into the bright orange shoe-box.",
+    "Hold two the shoe with curved sole, tips left, and place in the smooth bright orange box.",
+    "Place two the rubber-soled shoe with lace-up top in the medium-sized box with Nike swoosh, tip left when set.",
+    "Lay down two the medium-sized black and white shoe in the medium orange box with smooth surface, tips oriented left.",
+    "Arrange the two the shoe with curved sole, tips left, inside the shoe-box with Nike printed logo.",
+    "Move two the rubber-soled shoe with lace-up top into the rectangular orange shoe-box, ensure tips point left.",
+    "Use arms to lift two the shoe with curved sole, tips left, and set in the Nike-branded orange shoe-box.",
+    "Grab two the medium-sized black and white shoe, tips left, place them carefully in the bright orange shoe-box.",
+    "Transfer two the dual-tone shoe with sleek design, tips left-aligned, into the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the synthetic leather shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Grab two the shoe with curved sole, tip left, place them in the smooth bright orange box.",
+    "Place two the black and white shoe into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Grab both the dual-tone shoe with sleek design, ensure tips left, place in the orange shoe-box.",
+    "Pick up two the dual-tone shoe with sleek design and set them in the orange cardboard shoe-box, tips left.",
+    "Grab and place two the shoe with smooth top and grippy sole in the smooth orange box for shoes, tips left.",
+    "Use both arms to set two the black shoe with white accents in the rectangular shoe-box with orange lid, tips left.",
+    "Pick two the shoe with smooth top and grippy sole, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Place two the black shoe with white accents tips leftward into the the orange cardboard shoe-box.",
+    "Handle two the rubber-soled shoe with lace-up top, tips directed left, and drop them into the orange cardboard shoe-box.",
+    "Set two the shoe with smooth top and grippy sole in the medium orange box with smooth surface with tips left.",
+    "Put two the rubber-soled shoe with lace-up top, tips to the left, into the orange shoe-box.",
+    "Set two the black and white shoe into the the smooth orange box for shoes, align tips to the left.",
+    "Lift and put two the shoe with smooth top and grippy sole in the orange cardboard shoe-box, tips left.",
+    "Use hands to grab two the comfortable shoe for walking, tips left, drop into the smooth bright orange box.",
+    "Move two the shoe made of rubber and leather, tip ends left, and set them in the smooth orange box for shoes.",
+    "Move a pair of the black shoe with white accents into the medium orange box with smooth surface, left tips first.",
+    "Grab both the synthetic leather shoe and put them into the shoe-box with Nike printed logo, tips left.",
+    "Pick up two the black shoe with white accents, tips left, and set them in the rectangular orange shoe-box.",
+    "Stick both the comfortable shoe for walking in the medium-sized box with Nike swoosh, shoe tips pointing left.",
+    "Put two the rubber-soled shoe with lace-up top into the medium orange box with smooth surface, shoe tips left.",
+    "Grasp two the rubber-soled shoe with lace-up top, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Retrieve two the shoe with smooth top and grippy sole, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Place two the black and white shoe inside the rectangular shoe-box with orange lid, make tips face left.",
+    "Ensure two the wearable foot protector shoe are in the smooth orange box for shoes, tips facing left.",
+    "Hold two the average adult-sized shoe, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Pick up two the rubber-soled shoe with lace-up top, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Take two the medium-sized black and white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Lift two the comfortable shoe for walking, ensure left tips, drop in the smooth orange box for shoes.",
+    "Drop a pair of the black shoe with white accents into the orange Nike shoe-box with logo, tips align left.",
+    "Lift two the comfortable shoe for walking, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Position two the dual-tone shoe with sleek design into the orange cardboard shoe-box, shoe tips leftward.",
+    "Slide both the shoe made of rubber and leather into the smooth orange box for shoes with tips pointing left.",
+    "With both arms, move two the comfortable shoe for walking into the smooth orange box for shoes, tips facing left.",
+    "Pick up two the shoe with curved sole together and place in the Nike-branded orange shoe-box, tips left.",
+    "Set two the shoe with curved sole in the the orange cardboard shoe-box, tips pointing left.",
+    "Make sure tips point left, then place the black and white shoe in the shoe-box with Nike printed logo.",
+    "Put two the black and white shoe in the orange shoe-box with tips facing left.",
+    "Collect two the shoe with smooth top and grippy sole, tips facing left, and put in the smooth orange box for shoes.",
+    "Grab a pair of the medium-sized black and white shoe, tips left, put them into the orange cardboard shoe-box.",
+    "Hold two the shoe with curved sole, tips left, and place in the orange cardboard shoe-box.",
+    "Place two the dual-tone shoe with sleek design in the orange cardboard shoe-box, tip left when set.",
+    "Lay down two the shoe with curved sole in the orange shoe-box, tips oriented left."
+  ],
+  "unseen": [
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode225.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move a pair of the synthetic leather white shoe into the Nike-branded orange shoe-box, left tips first.",
+    "Grasp two the sleek white walking shoe, tips aligned left, and place them in the orange cardboard shoe-box.",
+    "Lay down two the shoe with black back detail in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Pick up two the shoe with black heel patch and set them in the orange cardboard shoe-box, tips left.",
+    "Drop a pair of the shoe with black heel patch into the rectangular shoe-box with orange lid, tips align left.",
+    "Pick up two the shoe with black back detail together and place in the shoe-box with Nike printed logo, tips left.",
+    "Put two the shoe for everyday walking into the orange shoe-box, shoe tips left.",
+    "Place two the white shoe with curved sole in the smooth bright orange box, tip left when set.",
+    "Grab two the white shoe with rounded toe, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Handle two the medium-sized casual shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Arrange the two the white shoe with rounded toe, tips left, inside the rectangular shoe-box with orange lid.",
+    "Pick up two the synthetic leather white shoe, tips left, drop them into the smooth bright orange box.",
+    "Position two the synthetic leather white shoe into the orange cardboard shoe-box, shoe tips leftward.",
+    "Use arms to lift two the white shoe, tips left, and set in the smooth bright orange box.",
+    "Grab two the white and black combination shoe, tip left, place them in the medium orange box with smooth surface.",
+    "Set two the shoe with black heel patch in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Make sure tips point left, then place the shoe with lace-up front in the medium orange box with smooth surface.",
+    "Grab a pair of the sleek white walking shoe, tips left, put them into the Nike-branded orange shoe-box.",
+    "Lift two the white shoe, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Use both arms to set two the white shoe in the smooth bright orange box, tips left.",
+    "Move two the shoe for everyday walking into the orange shoe-box, ensure tips point left.",
+    "Put two the shoe with lace-up front, tips to the left, into the rectangular orange shoe-box.",
+    "Pick up two the white and black combination shoe, tips left, and set them in the smooth bright orange box.",
+    "Grab both the shoe for everyday walking, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Move two the shoe with lace-up front, tip ends left, and set them in the orange shoe-box.",
+    "Take two the medium-sized casual shoe, ensure tips left, place in the smooth bright orange box.",
+    "Use hands to grab two the white shoe with rounded toe, tips left, drop into the bright orange shoe-box.",
+    "Place two the white shoe with rounded toe tips leftward into the the medium orange box with smooth surface.",
+    "Retrieve two the medium-sized casual shoe, orienting tips left, and place in the bright orange shoe-box.",
+    "Grab and place two the sleek white walking shoe in the smooth bright orange box, tips left.",
+    "Lift and put two the shoe with black heel patch in the smooth orange box for shoes, tips left.",
+    "Grab both the white shoe with rounded toe and put them into the orange Nike shoe-box with logo, tips left.",
+    "Place two the white shoe with curved sole inside the bright orange shoe-box, make tips face left.",
+    "Set two the white and black combination shoe into the the bright orange shoe-box, align tips to the left.",
+    "Transfer two the shoe for everyday walking, tips left-aligned, into the rectangular orange shoe-box.",
+    "Hold two the sleek white walking shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Pick two the shoe with lace-up front, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Ensure two the shoe with black back detail are in the orange cardboard shoe-box, tips facing left.",
+    "Hold two the shoe for everyday walking, tips left, and place in the orange Nike shoe-box with logo.",
+    "Put two the soft rubber-soled white shoe in the medium-sized box with Nike swoosh with tips facing left.",
+    "Use both arms to place two the shoe with lace-up front into the medium orange box with smooth surface, tips left.",
+    "Lift two the shoe with lace-up front, position them in the orange shoe-box, tips to the left.",
+    "Set two the shoe with lace-up front in the medium orange box with smooth surface with tips left.",
+    "Stick both the white shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Slide both the sleek white walking shoe into the orange cardboard shoe-box with tips pointing left.",
+    "Collect two the medium-sized casual shoe, tips facing left, and put in the orange shoe-box.",
+    "With both arms, move two the white shoe into the smooth bright orange box, tips facing left.",
+    "Place two the shoe for everyday walking into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Move a pair of the white shoe with rounded toe into the smooth orange box for shoes, left tips first.",
+    "Grasp two the shoe with black back detail, tips aligned left, and place them in the rectangular shoe-box with orange lid.",
+    "Lay down two the shoe with black heel patch in the rectangular orange shoe-box, tips oriented left.",
+    "Pick up two the synthetic leather white shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Drop a pair of the medium-sized casual shoe into the medium orange box with smooth surface, tips align left.",
+    "Pick up two the sleek white walking shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Put two the soft rubber-soled white shoe into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Place two the medium-sized casual shoe in the medium orange box with smooth surface, tip left when set.",
+    "Grab two the white shoe, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Handle two the white shoe with rounded toe, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Arrange the two the medium-sized casual shoe, tips left, inside the bright orange shoe-box.",
+    "Pick up two the white and black combination shoe, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Position two the white shoe with rounded toe into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Use arms to lift two the soft rubber-soled white shoe, tips left, and set in the medium orange box with smooth surface.",
+    "Grab two the sleek white walking shoe, tip left, place them in the orange Nike shoe-box with logo.",
+    "Set two the shoe with lace-up front in the the bright orange shoe-box, tips pointing left.",
+    "Make sure tips point left, then place the white and black combination shoe in the rectangular orange shoe-box.",
+    "Grab a pair of the white and black combination shoe, tips left, put them into the orange Nike shoe-box with logo.",
+    "Lift two the shoe with lace-up front, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Use both arms to set two the shoe with lace-up front in the smooth bright orange box, tips left.",
+    "Move two the medium-sized casual shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Put two the shoe with black back detail, tips to the left, into the orange shoe-box.",
+    "Pick up two the sleek white walking shoe, tips left, and set them in the medium orange box with smooth surface.",
+    "Grab both the white and black combination shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Move two the soft rubber-soled white shoe, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Take two the shoe for everyday walking, ensure tips left, place in the smooth orange box for shoes.",
+    "Use hands to grab two the shoe for everyday walking, tips left, drop into the Nike-branded orange shoe-box.",
+    "Place two the medium-sized casual shoe tips leftward into the the smooth bright orange box.",
+    "Retrieve two the shoe with lace-up front, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Grab and place two the sleek white walking shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Lift and put two the synthetic leather white shoe in the orange shoe-box, tips left.",
+    "Grab both the sleek white walking shoe and put them into the smooth bright orange box, tips left.",
+    "Place two the sleek white walking shoe inside the medium orange box with smooth surface, make tips face left.",
+    "Set two the shoe with black back detail into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Transfer two the white shoe, tips left-aligned, into the medium-sized box with Nike swoosh.",
+    "Hold two the shoe with black heel patch, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Pick two the white shoe with rounded toe, ensure tips facing left, and position in the orange shoe-box.",
+    "Ensure two the white shoe are in the smooth orange box for shoes, tips facing left.",
+    "Hold two the soft rubber-soled white shoe, tips left, and place in the orange cardboard shoe-box.",
+    "Put two the white and black combination shoe in the rectangular orange shoe-box with tips facing left.",
+    "Use both arms to place two the shoe with lace-up front into the medium orange box with smooth surface, tips left.",
+    "Lift two the shoe with lace-up front, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Set two the white and black combination shoe in the orange Nike shoe-box with logo with tips left.",
+    "Stick both the shoe with lace-up front in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Slide both the shoe with black back detail into the shoe-box with Nike printed logo with tips pointing left.",
+    "Collect two the synthetic leather white shoe, tips facing left, and put in the orange cardboard shoe-box.",
+    "With both arms, move two the sleek white walking shoe into the orange cardboard shoe-box, tips facing left.",
+    "Place two the medium-sized casual shoe into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Move a pair of the white shoe with rounded toe into the orange cardboard shoe-box, left tips first.",
+    "Grasp two the white and black combination shoe, tips aligned left, and place them in the bright orange shoe-box.",
+    "Lay down two the shoe with black heel patch in the bright orange shoe-box, tips oriented left.",
+    "Pick up two the white and black combination shoe and set them in the smooth bright orange box, tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the black-accented white shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with rubber bottom to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab two the black-accented white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth white shoe with laces to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab two the black-accented white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Place two the smooth white shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom and set them in the orange box for keeping shoes, tips left.",
+    "Place two the smooth white shoe with laces into the rectangular Nike box for shoes, tips left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom and set them in the orange box for keeping shoes, tips left.",
+    "Place two the black-accented white shoe into the medium cardboard shoe-box, tips left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth white shoe with laces to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the shoe with rubber bottom in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the black-accented white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Place two the shoe with rubber bottom into the medium cardboard shoe-box, tips left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the black-accented white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Place two the black-accented white shoe into the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black-accented white shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with rubber bottom to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the smooth white shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the black-accented white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab two the black-accented white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Place two the shoe with rubber bottom into the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the smooth white shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the smooth white shoe with laces and set them in the medium cardboard shoe-box, tips left.",
+    "Place two the smooth white shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the smooth white shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom and set them in the orange box for keeping shoes, tips left.",
+    "Place two the smooth white shoe with laces into the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode233.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two the rounded tip leather shoe, tips left, place them carefully in the smooth orange box for shoes.",
+    "Grab both the shoe with grooved bottom, ensure tips left, place in the smooth orange box for shoes.",
+    "Lift and put two the dark shoe with grooves on sole in the shoe-box with Nike printed logo, tips left.",
+    "Use both arms to place two the shoe for walking with rubber grip into the medium orange box with smooth surface, tips left.",
+    "Grab and place two the rounded tip leather shoe in the orange Nike shoe-box with logo, tips left.",
+    "Grab two the shoe for walking with rubber grip, tip left, place them in the orange Nike shoe-box with logo.",
+    "Lift two the shoe with thick rubber sole, ensure left tips, drop in the orange cardboard shoe-box.",
+    "Pick up two the smooth leather shoe together and place in the orange cardboard shoe-box, tips left.",
+    "Put two the dark shoe with grooves on sole in the shoe-box with Nike printed logo with tips facing left.",
+    "Pick up two the rounded front shoe and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Collect two the medium-sized walking shoe, tips facing left, and put in the smooth orange box for shoes.",
+    "Move two the rounded front shoe into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Ensure two the brown shoe are in the orange Nike shoe-box with logo, tips facing left.",
+    "Take two the shoe with lace holes, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Arrange the two the shoe with grooved bottom, tips left, inside the rectangular shoe-box with orange lid.",
+    "Use arms to lift two the dark shoe with grooves on sole, tips left, and set in the Nike-branded orange shoe-box.",
+    "Handle two the rounded tip leather shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Place two the smooth leather shoe in the rectangular orange shoe-box, tip left when set.",
+    "Stick both the shoe for everyday wear in the orange shoe-box, shoe tips pointing left.",
+    "Set two the shoe with lace holes into the the orange shoe-box, align tips to the left.",
+    "Lift two the shoe for walking with rubber grip, position them in the smooth orange box for shoes, tips to the left.",
+    "Lay down two the medium-sized walking shoe in the medium-sized box with Nike swoosh, tips oriented left.",
+    "Slide both the rounded tip leather shoe into the rectangular orange shoe-box with tips pointing left.",
+    "Make sure tips point left, then place the brown shoe in the rectangular orange shoe-box.",
+    "Put two the rounded tip leather shoe, tips to the left, into the orange cardboard shoe-box.",
+    "Hold two the shoe with lace holes, tips left, and place in the orange cardboard shoe-box.",
+    "Transfer two the medium-sized walking shoe, tips left-aligned, into the smooth bright orange box.",
+    "With both arms, move two the medium-sized walking shoe into the Nike-branded orange shoe-box, tips facing left.",
+    "Pick up two the smooth leather shoe, tips left, drop them into the smooth bright orange box.",
+    "Set two the dark shoe with grooves on sole in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Hold two the shoe with thick rubber sole, drop them in the bright orange shoe-box, tips pointing left.",
+    "Place two the brown shoe inside the orange shoe-box, make tips face left.",
+    "Move two the rounded tip leather shoe, tip ends left, and set them in the orange Nike shoe-box with logo.",
+    "Set two the dark shoe with grooves on sole in the smooth bright orange box with tips left.",
+    "Place two the rounded tip leather shoe tips leftward into the the orange shoe-box.",
+    "Grab a pair of the shoe for everyday wear, tips left, put them into the medium orange box with smooth surface.",
+    "Position two the shoe for walking with rubber grip into the bright orange shoe-box, shoe tips leftward.",
+    "Grasp two the rounded tip leather shoe, tips aligned left, and place them in the smooth bright orange box.",
+    "Pick up two the shoe with grooved bottom, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Use hands to grab two the rounded tip leather shoe, tips left, drop into the shoe-box with Nike printed logo.",
+    "Move a pair of the brown shoe into the smooth orange box for shoes, left tips first.",
+    "Drop a pair of the shoe with thick rubber sole into the orange Nike shoe-box with logo, tips align left.",
+    "Retrieve two the smooth leather shoe, orienting tips left, and place in the smooth bright orange box.",
+    "Place two the shoe with lace holes into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Pick two the smooth leather shoe, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Use both arms to set two the dark brown leather shoe in the smooth orange box for shoes, tips left.",
+    "Put two the shoe with lace holes into the medium orange box with smooth surface, shoe tips left.",
+    "Grab both the dark shoe with grooves on sole and put them into the medium orange box with smooth surface, tips left.",
+    "Grab two the smooth leather shoe, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Grab both the smooth leather shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Lift and put two the medium-sized walking shoe in the medium orange box with smooth surface, tips left.",
+    "Use both arms to place two the shoe for everyday wear into the smooth orange box for shoes, tips left.",
+    "Grab and place two the shoe with lace holes in the Nike-branded orange shoe-box, tips left.",
+    "Grab two the dark brown leather shoe, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Lift two the shoe with grooved bottom, ensure left tips, drop in the bright orange shoe-box.",
+    "Pick up two the shoe for walking with rubber grip together and place in the orange Nike shoe-box with logo, tips left.",
+    "Put two the medium-sized walking shoe in the medium-sized box with Nike swoosh with tips facing left.",
+    "Pick up two the shoe with lace holes and set them in the medium orange box with smooth surface, tips left.",
+    "Collect two the dark shoe with grooves on sole, tips facing left, and put in the shoe-box with Nike printed logo.",
+    "Move two the shoe for walking with rubber grip into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Ensure two the dark shoe with grooves on sole are in the smooth orange box for shoes, tips facing left.",
+    "Take two the brown shoe, ensure tips left, place in the smooth bright orange box.",
+    "Arrange the two the rounded front shoe, tips left, inside the bright orange shoe-box.",
+    "Use arms to lift two the shoe with lace holes, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Handle two the dark shoe with grooves on sole, tips directed left, and drop them into the bright orange shoe-box.",
+    "Place two the rounded tip leather shoe in the shoe-box with Nike printed logo, tip left when set.",
+    "Stick both the shoe with lace holes in the rectangular shoe-box with orange lid, shoe tips pointing left.",
+    "Set two the dark brown leather shoe into the the orange shoe-box, align tips to the left.",
+    "Lift two the dark brown leather shoe, position them in the shoe-box with Nike printed logo, tips to the left.",
+    "Lay down two the shoe for everyday wear in the bright orange shoe-box, tips oriented left.",
+    "Slide both the rounded tip leather shoe into the orange Nike shoe-box with logo with tips pointing left.",
+    "Make sure tips point left, then place the dark shoe with grooves on sole in the Nike-branded orange shoe-box.",
+    "Put two the rounded tip leather shoe, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Hold two the medium-sized walking shoe, tips left, and place in the orange shoe-box.",
+    "Transfer two the brown shoe, tips left-aligned, into the shoe-box with Nike printed logo.",
+    "With both arms, move two the medium-sized walking shoe into the orange cardboard shoe-box, tips facing left.",
+    "Pick up two the rounded front shoe, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Set two the rounded front shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Hold two the smooth leather shoe, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Place two the shoe for everyday wear inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Move two the smooth leather shoe, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Set two the medium-sized walking shoe in the orange cardboard shoe-box with tips left.",
+    "Place two the medium-sized walking shoe tips leftward into the the shoe-box with Nike printed logo.",
+    "Grab a pair of the shoe for walking with rubber grip, tips left, put them into the smooth bright orange box.",
+    "Position two the shoe with thick rubber sole into the smooth orange box for shoes, shoe tips leftward.",
+    "Grasp two the shoe for walking with rubber grip, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Pick up two the shoe for everyday wear, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Use hands to grab two the shoe with lace holes, tips left, drop into the medium orange box with smooth surface.",
+    "Move a pair of the brown shoe into the rectangular orange shoe-box, left tips first.",
+    "Drop a pair of the medium-sized walking shoe into the bright orange shoe-box, tips align left.",
+    "Retrieve two the brown shoe, orienting tips left, and place in the bright orange shoe-box.",
+    "Place two the shoe with thick rubber sole into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Pick two the dark shoe with grooves on sole, ensure tips facing left, and position in the smooth bright orange box.",
+    "Use both arms to set two the rounded front shoe in the smooth orange box for shoes, tips left.",
+    "Put two the brown shoe into the bright orange shoe-box, shoe tips left.",
+    "Grab both the shoe with lace holes and put them into the smooth orange box for shoes, tips left.",
+    "Grab two the rounded front shoe, tips left, place them carefully in the smooth orange box for shoes.",
+    "Grab both the brown shoe, ensure tips left, place in the smooth bright orange box.",
+    "Lift and put two the dark brown leather shoe in the orange shoe-box, tips left.",
+    "Use both arms to place two the smooth leather shoe into the Nike-branded orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the brown footwear with smooth texture in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the casual brown shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with sturdy sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the casual brown shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown shoe with sturdy sole into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the casual brown shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the brown footwear with smooth texture to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown footwear with smooth texture into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the brown footwear with smooth texture in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the casual brown shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown footwear with smooth texture into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the casual brown shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Place two the casual brown shoe into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the casual brown shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the casual brown shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the orange box for keeping shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with sturdy sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the casual brown shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown shoe with sturdy sole into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the casual brown shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the casual brown shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the casual brown shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the brown footwear with smooth texture to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the brown footwear with smooth texture in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown footwear with smooth texture into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with sturdy sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the brown shoe with sturdy sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode266.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to place two the shoe with black accents into the orange Nike shoe-box with logo, tips left.",
+    "Place two the medium shoe with synthetic material tips leftward into the the bright orange shoe-box.",
+    "Lift and put two the white shoe with three stripes in the orange Nike shoe-box with logo, tips left.",
+    "Ensure two the medium-sized shoe are in the orange cardboard shoe-box, tips facing left.",
+    "Pick up two the white shoe with three stripes and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Take two the white shoe with curved top, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Hold two the medium shoe with synthetic material, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Grasp two the smooth surface white shoe, tips aligned left, and place them in the medium orange box with smooth surface.",
+    "Lay down two the smooth surface white shoe in the medium-sized box with Nike swoosh, tips oriented left.",
+    "Grab two the white shoe with black lines, tip left, place them in the Nike-branded orange shoe-box.",
+    "Put two the white shoe with three stripes into the medium-sized box with Nike swoosh, shoe tips left.",
+    "Arrange the two the sports shoe white and black, tips left, inside the smooth bright orange box.",
+    "Lift two the white shoe with three stripes, ensure left tips, drop in the bright orange shoe-box.",
+    "Grab two the smooth surface white shoe, tips left, place them carefully in the Nike-branded orange shoe-box.",
+    "Use hands to grab two the white shoe with three stripes, tips left, drop into the Nike-branded orange shoe-box.",
+    "Hold two the synthetic leather white shoe, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Lift two the white shoe with curved top, position them in the bright orange shoe-box, tips to the left.",
+    "Handle two the shoe with black accents, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Move two the shoe with black accents into the orange cardboard shoe-box, ensure tips point left.",
+    "With both arms, move two the white shoe with three stripes into the smooth bright orange box, tips facing left.",
+    "Collect two the medium shoe with synthetic material, tips facing left, and put in the smooth bright orange box.",
+    "Move two the white shoe with curved top, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Put two the sports shoe white and black, tips to the left, into the bright orange shoe-box.",
+    "Slide both the white shoe with black lines into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Use both arms to set two the white shoe with curved top in the orange cardboard shoe-box, tips left.",
+    "Place two the smooth surface white shoe in the rectangular shoe-box with orange lid, tip left when set.",
+    "Position two the medium-sized shoe into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Grab both the rounded-top white shoe, ensure tips left, place in the smooth orange box for shoes.",
+    "Put two the white shoe with three stripes in the orange Nike shoe-box with logo with tips facing left.",
+    "Pick up two the white shoe with three stripes together and place in the bright orange shoe-box, tips left.",
+    "Stick both the white shoe in the smooth orange box for shoes, shoe tips pointing left.",
+    "Grab both the synthetic leather white shoe and put them into the orange shoe-box, tips left.",
+    "Pick up two the rubber-soled black-striped shoe, tips left, drop them into the smooth bright orange box.",
+    "Grab a pair of the white shoe with three stripes, tips left, put them into the smooth bright orange box.",
+    "Set two the white shoe with three stripes in the Nike-branded orange shoe-box with tips left.",
+    "Set two the medium shoe with synthetic material into the the orange Nike shoe-box with logo, align tips to the left.",
+    "Transfer two the rounded-top white shoe, tips left-aligned, into the rectangular orange shoe-box.",
+    "Place two the shoe with black accents inside the shoe-box with Nike printed logo, make tips face left.",
+    "Drop a pair of the rubber-soled black-striped shoe into the rectangular shoe-box with orange lid, tips align left.",
+    "Set two the medium-sized shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Grab and place two the rubber-soled black-striped shoe in the Nike-branded orange shoe-box, tips left.",
+    "Move a pair of the synthetic leather white shoe into the orange cardboard shoe-box, left tips first.",
+    "Pick two the white shoe with curved top, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Make sure tips point left, then place the white shoe with curved top in the orange Nike shoe-box with logo.",
+    "Place two the synthetic leather white shoe into the smooth orange box for shoes, ensure shoe tips face left.",
+    "Pick up two the shoe with black accents, tips left, and set them in the orange cardboard shoe-box.",
+    "Use arms to lift two the white shoe with curved top, tips left, and set in the smooth bright orange box.",
+    "Retrieve two the synthetic leather white shoe, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Use both arms to place two the rubber-soled black-striped shoe into the orange cardboard shoe-box, tips left.",
+    "Place two the white shoe with curved top tips leftward into the the orange cardboard shoe-box.",
+    "Lift and put two the medium shoe with synthetic material in the rectangular shoe-box with orange lid, tips left.",
+    "Ensure two the sports shoe white and black are in the orange Nike shoe-box with logo, tips facing left.",
+    "Pick up two the rubber-soled black-striped shoe and set them in the Nike-branded orange shoe-box, tips left.",
+    "Take two the white shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Hold two the synthetic leather white shoe, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Grasp two the medium shoe with synthetic material, tips aligned left, and place them in the smooth bright orange box.",
+    "Lay down two the rounded-top white shoe in the smooth orange box for shoes, tips oriented left.",
+    "Grab two the medium shoe with synthetic material, tip left, place them in the smooth bright orange box.",
+    "Put two the white shoe with black lines into the rectangular orange shoe-box, shoe tips left.",
+    "Arrange the two the white shoe with three stripes, tips left, inside the medium-sized box with Nike swoosh.",
+    "Lift two the sports shoe white and black, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Grab two the white shoe with black lines, tips left, place them carefully in the smooth orange box for shoes.",
+    "Use hands to grab two the white shoe, tips left, drop into the shoe-box with Nike printed logo.",
+    "Hold two the rounded-top white shoe, tips left, and place in the bright orange shoe-box.",
+    "Lift two the shoe with black accents, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Handle two the rounded-top white shoe, tips directed left, and drop them into the orange cardboard shoe-box.",
+    "Move two the medium-sized shoe into the bright orange shoe-box, ensure tips point left.",
+    "With both arms, move two the rounded-top white shoe into the smooth orange box for shoes, tips facing left.",
+    "Collect two the white shoe with black lines, tips facing left, and put in the rectangular shoe-box with orange lid.",
+    "Move two the shoe with black accents, tip ends left, and set them in the medium orange box with smooth surface.",
+    "Put two the shoe with black accents, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Slide both the rubber-soled black-striped shoe into the rectangular orange shoe-box with tips pointing left.",
+    "Use both arms to set two the white shoe with three stripes in the rectangular orange shoe-box, tips left.",
+    "Place two the shoe with black accents in the medium-sized box with Nike swoosh, tip left when set.",
+    "Position two the synthetic leather white shoe into the orange shoe-box, shoe tips leftward.",
+    "Grab both the smooth surface white shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Put two the white shoe in the smooth orange box for shoes with tips facing left.",
+    "Pick up two the rubber-soled black-striped shoe together and place in the smooth bright orange box, tips left.",
+    "Stick both the white shoe in the Nike-branded orange shoe-box, shoe tips pointing left.",
+    "Grab both the rounded-top white shoe and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Pick up two the shoe with black accents, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Grab a pair of the white shoe, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Set two the synthetic leather white shoe in the orange shoe-box with tips left.",
+    "Set two the medium shoe with synthetic material into the the orange cardboard shoe-box, align tips to the left.",
+    "Transfer two the shoe with black accents, tips left-aligned, into the orange shoe-box.",
+    "Place two the white shoe with black lines inside the shoe-box with Nike printed logo, make tips face left.",
+    "Drop a pair of the smooth surface white shoe into the bright orange shoe-box, tips align left.",
+    "Set two the white shoe with black lines in the the smooth bright orange box, tips pointing left.",
+    "Grab and place two the medium shoe with synthetic material in the smooth orange box for shoes, tips left.",
+    "Move a pair of the synthetic leather white shoe into the rectangular orange shoe-box, left tips first.",
+    "Pick two the sports shoe white and black, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Make sure tips point left, then place the white shoe with curved top in the shoe-box with Nike printed logo.",
+    "Place two the rounded-top white shoe into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Pick up two the white shoe, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Use arms to lift two the shoe with black accents, tips left, and set in the rectangular orange shoe-box.",
+    "Retrieve two the white shoe with three stripes, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Use both arms to place two the white shoe into the medium orange box with smooth surface, tips left.",
+    "Place two the medium-sized shoe tips leftward into the the orange shoe-box.",
+    "Lift and put two the medium-sized shoe in the bright orange shoe-box, tips left.",
+    "Ensure two the rubber-soled black-striped shoe are in the orange shoe-box, tips facing left."
+  ],
+  "unseen": [
+    "Put a pair of the shoe with black stripe design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with ribbed sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with ribbed sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with ribbed sole, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with black stripe design into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the shoe with ribbed sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the shoe with black stripe design, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black-striped white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripe design, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with ribbed sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with ribbed sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with ribbed sole into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the black-striped white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with black stripe design to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with black stripe design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with ribbed sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the black-striped white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with black stripe design, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black-striped white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with black stripe design, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with ribbed sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with black stripe design, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with ribbed sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with ribbed sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the shoe with ribbed sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black-striped white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with ribbed sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with black stripe design into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with ribbed sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black-striped white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black-striped white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with black stripe design, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black-striped white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with black stripe design, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black-striped white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with black stripe design, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with black stripe design to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black-striped white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black-striped white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with black stripe design, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the black-striped white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black-striped white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with black stripe design, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the black-striped white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with black stripe design, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with black stripe design, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with ribbed sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black-striped white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with ribbed sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with black stripe design, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with ribbed sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with black stripe design, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with ribbed sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with black stripe design, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with ribbed sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with black stripe design, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the black-striped white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with black stripe design into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the shoe with black stripe design, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with black stripe design to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black-striped white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with ribbed sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripe design and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black-striped white shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the black-striped white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the black-striped white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the black-striped white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with black stripe design in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black-striped white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the shoe with ribbed sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black-striped white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black-striped white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with ribbed sole into the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the shoe with ribbed sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the black-striped white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with ribbed sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with ribbed sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with ribbed sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with black stripe design, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black-striped white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with ribbed sole into the orange box for keeping shoes, tips left.",
+    "Grab a pair of the black-striped white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with ribbed sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with black stripe design in the the medium cardboard shoe-box, tips pointing left."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode280.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move two the single red shoe into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Grab and place two the red sneaker in the orange Nike shoe-box with logo, tips left.",
+    "Use both arms to set two the shoe with flat rubber sole in the medium orange box with smooth surface, tips left.",
+    "Take two the lace-up red sports shoe, ensure tips left, place in the smooth orange box for shoes.",
+    "Use both arms to place two the red sneaker into the medium-sized box with Nike swoosh, tips left.",
+    "Stick both the medium red shoe in the medium-sized box with Nike swoosh, shoe tips pointing left.",
+    "Hold two the grooved sole red shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Arrange the two the red shoe rounded at front, tips left, inside the orange Nike shoe-box with logo.",
+    "Handle two the smooth-textured red shoe, tips directed left, and drop them into the orange shoe-box.",
+    "Hold two the red shoe with white sole, drop them in the bright orange shoe-box, tips pointing left.",
+    "Grab two the medium red shoe, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Pick up two the white bottom sports shoe, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "Move a pair of the footwear with red top white sole into the smooth bright orange box, left tips first.",
+    "Use arms to lift two the lace-up red sports shoe, tips left, and set in the smooth orange box for shoes.",
+    "Pick two the red sneaker, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Set two the white bottom sports shoe in the orange shoe-box with tips left.",
+    "Use hands to grab two the grooved sole red shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Pick up two the smooth-textured red shoe together and place in the orange cardboard shoe-box, tips left.",
+    "Lift two the lace-up red sports shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Slide both the single red shoe into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Place two the grooved sole red shoe in the Nike-branded orange shoe-box, tip left when set.",
+    "Grasp two the sports shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Place two the red sneaker tips leftward into the the orange Nike shoe-box with logo.",
+    "Place two the single red shoe inside the orange cardboard shoe-box, make tips face left.",
+    "Position two the shoe with flat rubber sole into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Drop a pair of the grooved sole red shoe into the bright orange shoe-box, tips align left.",
+    "Pick up two the lace-up red sports shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Grab both the lace-up red sports shoe and put them into the smooth orange box for shoes, tips left.",
+    "Collect two the footwear with red top white sole, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Grab a pair of the red shoe with white sole, tips left, put them into the smooth orange box for shoes.",
+    "Make sure tips point left, then place the grooved sole red shoe in the rectangular shoe-box with orange lid.",
+    "Pick up two the red sneaker, tips left, and set them in the rectangular shoe-box with orange lid.",
+    "Lay down two the white bottom sports shoe in the shoe-box with Nike printed logo, tips oriented left.",
+    "Grab two the red shoe with white sole, tip left, place them in the smooth bright orange box.",
+    "Lift two the footwear with red top white sole, position them in the medium orange box with smooth surface, tips to the left.",
+    "Ensure two the single red shoe are in the smooth orange box for shoes, tips facing left.",
+    "Retrieve two the sports shoe, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Grab both the smooth-textured red shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Set two the white bottom sports shoe into the the medium orange box with smooth surface, align tips to the left.",
+    "Move two the medium red shoe, tip ends left, and set them in the orange Nike shoe-box with logo.",
+    "Transfer two the red shoe with white sole, tips left-aligned, into the medium orange box with smooth surface.",
+    "Put two the single red shoe in the bright orange shoe-box with tips facing left.",
+    "Place two the smooth-textured red shoe into the bright orange shoe-box, ensure shoe tips face left.",
+    "Put two the red sneaker into the medium orange box with smooth surface, shoe tips left.",
+    "Put two the red sneaker, tips to the left, into the Nike-branded orange shoe-box.",
+    "Set two the grooved sole red shoe in the the orange cardboard shoe-box, tips pointing left.",
+    "With both arms, move two the grooved sole red shoe into the rectangular orange shoe-box, tips facing left.",
+    "Lift and put two the single red shoe in the bright orange shoe-box, tips left.",
+    "Move two the shoe with flat rubber sole into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Grab and place two the medium red shoe in the medium orange box with smooth surface, tips left.",
+    "Use both arms to set two the red shoe rounded at front in the orange shoe-box, tips left.",
+    "Take two the red sneaker, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Use both arms to place two the single red shoe into the Nike-branded orange shoe-box, tips left.",
+    "Stick both the smooth-textured red shoe in the orange shoe-box, shoe tips pointing left.",
+    "Hold two the red shoe with white sole, tips left, and place in the shoe-box with Nike printed logo.",
+    "Arrange the two the shoe with flat rubber sole, tips left, inside the medium-sized box with Nike swoosh.",
+    "Handle two the medium red shoe, tips directed left, and drop them into the medium-sized box with Nike swoosh.",
+    "Hold two the footwear with red top white sole, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Grab two the sports shoe, tips left, place them carefully in the smooth bright orange box.",
+    "Pick up two the sports shoe, tips left, drop them into the smooth bright orange box.",
+    "Move a pair of the white bottom sports shoe into the medium-sized box with Nike swoosh, left tips first.",
+    "Use arms to lift two the white bottom sports shoe, tips left, and set in the orange shoe-box.",
+    "Pick two the grooved sole red shoe, ensure tips facing left, and position in the smooth bright orange box.",
+    "Set two the sports shoe in the medium-sized box with Nike swoosh with tips left.",
+    "Use hands to grab two the grooved sole red shoe, tips left, drop into the orange shoe-box.",
+    "Pick up two the footwear with red top white sole together and place in the shoe-box with Nike printed logo, tips left.",
+    "Lift two the red shoe rounded at front, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Slide both the shoe with flat rubber sole into the medium orange box with smooth surface with tips pointing left.",
+    "Place two the smooth-textured red shoe in the medium-sized box with Nike swoosh, tip left when set.",
+    "Grasp two the medium red shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Place two the shoe with flat rubber sole tips leftward into the the medium-sized box with Nike swoosh.",
+    "Place two the shoe with flat rubber sole inside the bright orange shoe-box, make tips face left.",
+    "Position two the sports shoe into the rectangular orange shoe-box, shoe tips leftward.",
+    "Drop a pair of the smooth-textured red shoe into the rectangular orange shoe-box, tips align left.",
+    "Pick up two the footwear with red top white sole and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Grab both the sports shoe and put them into the orange shoe-box, tips left.",
+    "Collect two the lace-up red sports shoe, tips facing left, and put in the orange shoe-box.",
+    "Grab a pair of the lace-up red sports shoe, tips left, put them into the orange Nike shoe-box with logo.",
+    "Make sure tips point left, then place the shoe with flat rubber sole in the Nike-branded orange shoe-box.",
+    "Pick up two the sports shoe, tips left, and set them in the rectangular orange shoe-box.",
+    "Lay down two the footwear with red top white sole in the orange cardboard shoe-box, tips oriented left.",
+    "Grab two the smooth-textured red shoe, tip left, place them in the smooth orange box for shoes.",
+    "Lift two the red sneaker, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Ensure two the red sneaker are in the orange shoe-box, tips facing left.",
+    "Retrieve two the single red shoe, orienting tips left, and place in the orange shoe-box.",
+    "Grab both the footwear with red top white sole, ensure tips left, place in the smooth orange box for shoes.",
+    "Set two the medium red shoe into the the rectangular orange shoe-box, align tips to the left.",
+    "Move two the red sneaker, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Transfer two the sports shoe, tips left-aligned, into the orange cardboard shoe-box.",
+    "Put two the medium red shoe in the medium orange box with smooth surface with tips facing left.",
+    "Place two the smooth-textured red shoe into the medium orange box with smooth surface, ensure shoe tips face left.",
+    "Put two the red sneaker into the orange shoe-box, shoe tips left.",
+    "Put two the red shoe rounded at front, tips to the left, into the orange shoe-box.",
+    "Set two the single red shoe in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "With both arms, move two the red shoe rounded at front into the orange cardboard shoe-box, tips facing left.",
+    "Lift and put two the medium red shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Move two the grooved sole red shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Grab and place two the red sneaker in the orange cardboard shoe-box, tips left.",
+    "Use both arms to set two the smooth-textured red shoe in the orange shoe-box, tips left.",
+    "Take two the medium red shoe, ensure tips left, place in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode281.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two the smooth leather shoe, tips left, place them carefully in the orange shoe-box.",
+    "Pick up two the smooth leather shoe together and place in the bright orange shoe-box, tips left.",
+    "Move a pair of the dark brown leather shoe into the Nike-branded orange shoe-box, left tips first.",
+    "Place two the shoe with thick rubber sole inside the bright orange shoe-box, make tips face left.",
+    "Slide both the shoe for everyday wear into the orange shoe-box with tips pointing left.",
+    "Hold two the shoe for everyday wear, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Grab and place two the dark brown leather shoe in the Nike-branded orange shoe-box, tips left.",
+    "Handle two the rounded front shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Stick both the dark brown leather shoe in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Use both arms to place two the shoe with grooved bottom into the smooth bright orange box, tips left.",
+    "Make sure tips point left, then place the shoe with grooved bottom in the smooth bright orange box.",
+    "With both arms, move two the shoe with thick rubber sole into the rectangular shoe-box with orange lid, tips facing left.",
+    "Lift two the shoe with thick rubber sole, position them in the medium orange box with smooth surface, tips to the left.",
+    "Place two the shoe with grooved bottom tips leftward into the the Nike-branded orange shoe-box.",
+    "Lift two the rounded front shoe, ensure left tips, drop in the medium orange box with smooth surface.",
+    "Place two the shoe with lace holes into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Move two the rounded tip leather shoe into the bright orange shoe-box, ensure tips point left.",
+    "Lift and put two the smooth leather shoe in the orange shoe-box, tips left.",
+    "Collect two the brown shoe, tips facing left, and put in the orange cardboard shoe-box.",
+    "Arrange the two the shoe for everyday wear, tips left, inside the smooth bright orange box.",
+    "Put two the dark shoe with grooves on sole into the orange Nike shoe-box with logo, shoe tips left.",
+    "Grab two the rounded tip leather shoe, tip left, place them in the smooth bright orange box.",
+    "Set two the shoe with grooved bottom in the orange Nike shoe-box with logo with tips left.",
+    "Retrieve two the shoe with grooved bottom, orienting tips left, and place in the orange shoe-box.",
+    "Grab a pair of the dark shoe with grooves on sole, tips left, put them into the smooth orange box for shoes.",
+    "Drop a pair of the brown shoe into the orange cardboard shoe-box, tips align left.",
+    "Take two the shoe for everyday wear, ensure tips left, place in the smooth orange box for shoes.",
+    "Put two the shoe with thick rubber sole, tips to the left, into the shoe-box with Nike printed logo.",
+    "Hold two the smooth leather shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Position two the dark brown leather shoe into the orange shoe-box, shoe tips leftward.",
+    "Use hands to grab two the medium-sized walking shoe, tips left, drop into the medium orange box with smooth surface.",
+    "Use both arms to set two the dark shoe with grooves on sole in the smooth orange box for shoes, tips left.",
+    "Put two the shoe for walking with rubber grip in the smooth bright orange box with tips facing left.",
+    "Set two the dark brown leather shoe in the the rectangular orange shoe-box, tips pointing left.",
+    "Grab both the rounded tip leather shoe and put them into the orange Nike shoe-box with logo, tips left.",
+    "Lay down two the shoe for walking with rubber grip in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Move two the shoe for walking with rubber grip, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Ensure two the brown shoe are in the rectangular shoe-box with orange lid, tips facing left.",
+    "Use arms to lift two the shoe with grooved bottom, tips left, and set in the smooth orange box for shoes.",
+    "Grab both the shoe for walking with rubber grip, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Pick two the dark shoe with grooves on sole, ensure tips facing left, and position in the smooth bright orange box.",
+    "Set two the shoe with lace holes into the the medium-sized box with Nike swoosh, align tips to the left.",
+    "Place two the rounded tip leather shoe in the rectangular shoe-box with orange lid, tip left when set.",
+    "Pick up two the shoe for everyday wear and set them in the bright orange shoe-box, tips left.",
+    "Transfer two the dark shoe with grooves on sole, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Pick up two the medium-sized walking shoe, tips left, drop them into the bright orange shoe-box.",
+    "Pick up two the shoe with grooved bottom, tips left, and set them in the orange shoe-box.",
+    "Grasp two the shoe for walking with rubber grip, tips aligned left, and place them in the shoe-box with Nike printed logo.",
+    "Grab two the dark brown leather shoe, tips left, place them carefully in the smooth orange box for shoes.",
+    "Pick up two the rounded tip leather shoe together and place in the orange Nike shoe-box with logo, tips left.",
+    "Move a pair of the rounded tip leather shoe into the orange cardboard shoe-box, left tips first.",
+    "Place two the brown shoe inside the smooth bright orange box, make tips face left.",
+    "Slide both the shoe for walking with rubber grip into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Hold two the shoe with grooved bottom, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Grab and place two the rounded front shoe in the shoe-box with Nike printed logo, tips left.",
+    "Handle two the rounded front shoe, tips directed left, and drop them into the medium-sized box with Nike swoosh.",
+    "Stick both the brown shoe in the orange shoe-box, shoe tips pointing left.",
+    "Use both arms to place two the shoe with lace holes into the medium orange box with smooth surface, tips left.",
+    "Make sure tips point left, then place the rounded tip leather shoe in the Nike-branded orange shoe-box.",
+    "With both arms, move two the shoe for walking with rubber grip into the rectangular shoe-box with orange lid, tips facing left.",
+    "Lift two the dark brown leather shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Place two the shoe with thick rubber sole tips leftward into the the smooth bright orange box.",
+    "Lift two the shoe for everyday wear, ensure left tips, drop in the bright orange shoe-box.",
+    "Place two the rounded tip leather shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Move two the medium-sized walking shoe into the rectangular shoe-box with orange lid, ensure tips point left.",
+    "Lift and put two the smooth leather shoe in the shoe-box with Nike printed logo, tips left.",
+    "Collect two the rounded front shoe, tips facing left, and put in the bright orange shoe-box.",
+    "Arrange the two the dark shoe with grooves on sole, tips left, inside the orange cardboard shoe-box.",
+    "Put two the rounded tip leather shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Grab two the rounded tip leather shoe, tip left, place them in the bright orange shoe-box.",
+    "Set two the dark brown leather shoe in the orange Nike shoe-box with logo with tips left.",
+    "Retrieve two the shoe with grooved bottom, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Grab a pair of the dark brown leather shoe, tips left, put them into the smooth bright orange box.",
+    "Drop a pair of the shoe for everyday wear into the bright orange shoe-box, tips align left.",
+    "Take two the shoe with lace holes, ensure tips left, place in the bright orange shoe-box.",
+    "Put two the dark shoe with grooves on sole, tips to the left, into the medium orange box with smooth surface.",
+    "Hold two the brown shoe, tips left, and place in the orange cardboard shoe-box.",
+    "Position two the dark brown leather shoe into the orange shoe-box, shoe tips leftward.",
+    "Use hands to grab two the shoe for walking with rubber grip, tips left, drop into the orange Nike shoe-box with logo.",
+    "Use both arms to set two the shoe with thick rubber sole in the Nike-branded orange shoe-box, tips left.",
+    "Put two the dark shoe with grooves on sole in the shoe-box with Nike printed logo with tips facing left.",
+    "Set two the rounded tip leather shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Grab both the brown shoe and put them into the medium orange box with smooth surface, tips left.",
+    "Lay down two the shoe with lace holes in the Nike-branded orange shoe-box, tips oriented left.",
+    "Move two the shoe for everyday wear, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Ensure two the rounded tip leather shoe are in the orange shoe-box, tips facing left.",
+    "Use arms to lift two the dark shoe with grooves on sole, tips left, and set in the orange Nike shoe-box with logo.",
+    "Grab both the smooth leather shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Pick two the brown shoe, ensure tips facing left, and position in the medium orange box with smooth surface.",
+    "Set two the dark shoe with grooves on sole into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Place two the rounded tip leather shoe in the bright orange shoe-box, tip left when set.",
+    "Pick up two the rounded tip leather shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Transfer two the rounded tip leather shoe, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Pick up two the shoe for walking with rubber grip, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Pick up two the dark brown leather shoe, tips left, and set them in the rectangular orange shoe-box.",
+    "Grasp two the smooth leather shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Grab two the brown shoe, tips left, place them carefully in the orange shoe-box.",
+    "Pick up two the shoe with lace holes together and place in the shoe-box with Nike printed logo, tips left.",
+    "Move a pair of the brown shoe into the medium-sized box with Nike swoosh, left tips first.",
+    "Place two the smooth leather shoe inside the shoe-box with Nike printed logo, make tips face left."
+  ],
+  "unseen": [
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown footwear with smooth texture and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the casual brown shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown footwear with smooth texture and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the casual brown shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the casual brown shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the casual brown shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown footwear with smooth texture and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with sturdy sole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the casual brown shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown shoe with sturdy sole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the brown shoe with sturdy sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the casual brown shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the brown footwear with smooth texture into the medium cardboard shoe-box, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the casual brown shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the brown footwear with smooth texture to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the casual brown shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown shoe with sturdy sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the orange box for keeping shoes.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the brown footwear with smooth texture to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown footwear with smooth texture in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the brown shoe with sturdy sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the brown shoe with sturdy sole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown footwear with smooth texture, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown footwear with smooth texture, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the casual brown shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the brown shoe with sturdy sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the casual brown shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the casual brown shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the casual brown shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the brown shoe with sturdy sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the brown footwear with smooth texture to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown shoe with sturdy sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the casual brown shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the brown footwear with smooth texture, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the brown footwear with smooth texture, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the casual brown shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with sturdy sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with sturdy sole, tips left, into the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode323.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set two the wearable foot protector shoe in the smooth orange box for shoes with tips left.",
+    "Collect two the wearable foot protector shoe, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Pick up two the rubber-soled shoe with lace-up top together and place in the bright orange shoe-box, tips left.",
+    "Hold two the rubber-soled shoe with lace-up top, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Pick up two the shoe made of rubber and leather and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Set two the dual-tone shoe with sleek design into the the orange shoe-box, align tips to the left.",
+    "Lift two the wearable foot protector shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Place two the black shoe with white accents in the orange cardboard shoe-box, tip left when set.",
+    "Move a pair of the dual-tone shoe with sleek design into the rectangular orange shoe-box, left tips first.",
+    "With both arms, move two the black and white shoe into the orange cardboard shoe-box, tips facing left.",
+    "Use hands to grab two the black and white shoe, tips left, drop into the smooth orange box for shoes.",
+    "Lay down two the wearable foot protector shoe in the orange shoe-box, tips oriented left.",
+    "Move two the black and white shoe, tip ends left, and set them in the orange Nike shoe-box with logo.",
+    "Position two the synthetic leather shoe into the smooth bright orange box, shoe tips leftward.",
+    "Set two the shoe with smooth top and grippy sole in the the medium-sized box with Nike swoosh, tips pointing left.",
+    "Use arms to lift two the shoe with curved sole, tips left, and set in the orange cardboard shoe-box.",
+    "Use both arms to place two the wearable foot protector shoe into the smooth orange box for shoes, tips left.",
+    "Slide both the synthetic leather shoe into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Grab two the rubber-soled shoe with lace-up top, tip left, place them in the orange shoe-box.",
+    "Drop a pair of the black and white shoe into the rectangular shoe-box with orange lid, tips align left.",
+    "Ensure two the medium-sized black and white shoe are in the rectangular orange shoe-box, tips facing left.",
+    "Move two the shoe with curved sole into the smooth bright orange box, ensure tips point left.",
+    "Grab both the shoe with curved sole, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Arrange the two the shoe with curved sole, tips left, inside the Nike-branded orange shoe-box.",
+    "Lift two the medium-sized black and white shoe, ensure left tips, drop in the smooth bright orange box.",
+    "Handle two the rubber-soled shoe with lace-up top, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Transfer two the shoe made of rubber and leather, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Use both arms to set two the synthetic leather shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Put two the rubber-soled shoe with lace-up top in the shoe-box with Nike printed logo with tips facing left.",
+    "Grab both the rubber-soled shoe with lace-up top and put them into the orange cardboard shoe-box, tips left.",
+    "Put two the shoe made of rubber and leather into the medium orange box with smooth surface, shoe tips left.",
+    "Grasp two the synthetic leather shoe, tips aligned left, and place them in the orange shoe-box.",
+    "Place two the rubber-soled shoe with lace-up top into the medium orange box with smooth surface, ensure shoe tips face left.",
+    "Grab a pair of the shoe with curved sole, tips left, put them into the orange cardboard shoe-box.",
+    "Retrieve two the shoe with curved sole, orienting tips left, and place in the smooth bright orange box.",
+    "Take two the average adult-sized shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Stick both the average adult-sized shoe in the medium-sized box with Nike swoosh, shoe tips pointing left.",
+    "Grab two the comfortable shoe for walking, tips left, place them carefully in the Nike-branded orange shoe-box.",
+    "Lift and put two the medium-sized black and white shoe in the medium orange box with smooth surface, tips left.",
+    "Place two the rubber-soled shoe with lace-up top tips leftward into the the rectangular shoe-box with orange lid.",
+    "Pick two the synthetic leather shoe, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Hold two the medium-sized black and white shoe, tips left, and place in the smooth orange box for shoes.",
+    "Place two the shoe with smooth top and grippy sole inside the medium orange box with smooth surface, make tips face left.",
+    "Pick up two the dual-tone shoe with sleek design, tips left, drop them into the orange shoe-box.",
+    "Pick up two the wearable foot protector shoe, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Make sure tips point left, then place the black and white shoe in the Nike-branded orange shoe-box.",
+    "Put two the comfortable shoe for walking, tips to the left, into the medium orange box with smooth surface.",
+    "Grab and place two the black and white shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Set two the comfortable shoe for walking in the rectangular orange shoe-box with tips left.",
+    "Collect two the rubber-soled shoe with lace-up top, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Pick up two the average adult-sized shoe together and place in the rectangular orange shoe-box, tips left.",
+    "Hold two the medium-sized black and white shoe, drop them in the medium orange box with smooth surface, tips pointing left.",
+    "Pick up two the black shoe with white accents and set them in the orange Nike shoe-box with logo, tips left.",
+    "Set two the dual-tone shoe with sleek design into the the orange Nike shoe-box with logo, align tips to the left.",
+    "Lift two the rubber-soled shoe with lace-up top, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Place two the comfortable shoe for walking in the medium-sized box with Nike swoosh, tip left when set.",
+    "Move a pair of the average adult-sized shoe into the medium orange box with smooth surface, left tips first.",
+    "With both arms, move two the black shoe with white accents into the Nike-branded orange shoe-box, tips facing left.",
+    "Use hands to grab two the dual-tone shoe with sleek design, tips left, drop into the orange Nike shoe-box with logo.",
+    "Lay down two the synthetic leather shoe in the smooth bright orange box, tips oriented left.",
+    "Move two the black shoe with white accents, tip ends left, and set them in the smooth bright orange box.",
+    "Position two the synthetic leather shoe into the orange cardboard shoe-box, shoe tips leftward.",
+    "Set two the shoe with curved sole in the the bright orange shoe-box, tips pointing left.",
+    "Use arms to lift two the black shoe with white accents, tips left, and set in the medium orange box with smooth surface.",
+    "Use both arms to place two the black and white shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the shoe made of rubber and leather into the Nike-branded orange shoe-box with tips pointing left.",
+    "Grab two the average adult-sized shoe, tip left, place them in the rectangular shoe-box with orange lid.",
+    "Drop a pair of the rubber-soled shoe with lace-up top into the orange Nike shoe-box with logo, tips align left.",
+    "Ensure two the wearable foot protector shoe are in the Nike-branded orange shoe-box, tips facing left.",
+    "Move two the wearable foot protector shoe into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Grab both the dual-tone shoe with sleek design, ensure tips left, place in the rectangular orange shoe-box.",
+    "Arrange the two the shoe with curved sole, tips left, inside the orange shoe-box.",
+    "Lift two the comfortable shoe for walking, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Handle two the black and white shoe, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Transfer two the black shoe with white accents, tips left-aligned, into the rectangular orange shoe-box.",
+    "Use both arms to set two the comfortable shoe for walking in the smooth orange box for shoes, tips left.",
+    "Put two the average adult-sized shoe in the orange cardboard shoe-box with tips facing left.",
+    "Grab both the rubber-soled shoe with lace-up top and put them into the orange cardboard shoe-box, tips left.",
+    "Put two the average adult-sized shoe into the smooth orange box for shoes, shoe tips left.",
+    "Grasp two the shoe made of rubber and leather, tips aligned left, and place them in the orange cardboard shoe-box.",
+    "Place two the comfortable shoe for walking into the bright orange shoe-box, ensure shoe tips face left.",
+    "Grab a pair of the dual-tone shoe with sleek design, tips left, put them into the shoe-box with Nike printed logo.",
+    "Retrieve two the rubber-soled shoe with lace-up top, orienting tips left, and place in the smooth orange box for shoes.",
+    "Take two the wearable foot protector shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Stick both the comfortable shoe for walking in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Grab two the black and white shoe, tips left, place them carefully in the smooth orange box for shoes.",
+    "Lift and put two the black shoe with white accents in the orange shoe-box, tips left.",
+    "Place two the synthetic leather shoe tips leftward into the the rectangular orange shoe-box.",
+    "Pick two the average adult-sized shoe, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Hold two the average adult-sized shoe, tips left, and place in the orange Nike shoe-box with logo.",
+    "Place two the black shoe with white accents inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Pick up two the average adult-sized shoe, tips left, drop them into the smooth orange box for shoes.",
+    "Pick up two the black shoe with white accents, tips left, and set them in the medium orange box with smooth surface.",
+    "Make sure tips point left, then place the shoe with curved sole in the rectangular orange shoe-box.",
+    "Put two the dual-tone shoe with sleek design, tips to the left, into the orange cardboard shoe-box.",
+    "Grab and place two the black and white shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Set two the comfortable shoe for walking in the medium orange box with smooth surface with tips left.",
+    "Collect two the black and white shoe, tips facing left, and put in the bright orange shoe-box.",
+    "Pick up two the black shoe with white accents together and place in the bright orange shoe-box, tips left.",
+    "Hold two the dual-tone shoe with sleek design, drop them in the shoe-box with Nike printed logo, tips pointing left."
+  ],
+  "unseen": [
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode325.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take two the grooved sole red shoe, ensure tips left, place in the orange shoe-box.",
+    "Move two the lace-up red sports shoe into the shoe-box with Nike printed logo, ensure tips point left.",
+    "Set two the white bottom sports shoe in the smooth orange box for shoes with tips left.",
+    "Collect two the shoe with flat rubber sole, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Drop a pair of the red sneaker into the orange cardboard shoe-box, tips align left.",
+    "Pick up two the white bottom sports shoe together and place in the smooth orange box for shoes, tips left.",
+    "Grab a pair of the sports shoe, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Slide both the red shoe rounded at front into the bright orange shoe-box with tips pointing left.",
+    "Place two the sports shoe in the orange cardboard shoe-box, tip left when set.",
+    "Grab both the shoe with flat rubber sole and put them into the rectangular shoe-box with orange lid, tips left.",
+    "Lift and put two the single red shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Lay down two the sports shoe in the smooth orange box for shoes, tips oriented left.",
+    "Pick up two the medium red shoe, tips left, and set them in the smooth bright orange box.",
+    "With both arms, move two the single red shoe into the shoe-box with Nike printed logo, tips facing left.",
+    "Grasp two the red shoe rounded at front, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Transfer two the medium red shoe, tips left-aligned, into the orange cardboard shoe-box.",
+    "Use arms to lift two the shoe with flat rubber sole, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Use both arms to set two the shoe with flat rubber sole in the shoe-box with Nike printed logo, tips left.",
+    "Make sure tips point left, then place the white bottom sports shoe in the smooth orange box for shoes.",
+    "Ensure two the footwear with red top white sole are in the orange Nike shoe-box with logo, tips facing left.",
+    "Stick both the shoe with flat rubber sole in the bright orange shoe-box, shoe tips pointing left.",
+    "Put two the sports shoe, tips to the left, into the orange cardboard shoe-box.",
+    "Hold two the sports shoe, drop them in the orange shoe-box, tips pointing left.",
+    "Place two the red shoe rounded at front tips leftward into the the orange shoe-box.",
+    "Pick up two the medium red shoe and set them in the bright orange shoe-box, tips left.",
+    "Grab and place two the white bottom sports shoe in the orange Nike shoe-box with logo, tips left.",
+    "Move a pair of the grooved sole red shoe into the Nike-branded orange shoe-box, left tips first.",
+    "Hold two the sports shoe, tips left, and place in the bright orange shoe-box.",
+    "Lift two the red shoe with white sole, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Retrieve two the sports shoe, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Use hands to grab two the grooved sole red shoe, tips left, drop into the rectangular orange shoe-box.",
+    "Arrange the two the white bottom sports shoe, tips left, inside the rectangular shoe-box with orange lid.",
+    "Put two the medium red shoe in the shoe-box with Nike printed logo with tips facing left.",
+    "Pick two the sports shoe, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Set two the single red shoe in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Use both arms to place two the single red shoe into the orange shoe-box, tips left.",
+    "Handle two the footwear with red top white sole, tips directed left, and drop them into the orange shoe-box.",
+    "Move two the single red shoe, tip ends left, and set them in the smooth orange box for shoes.",
+    "Pick up two the medium red shoe, tips left, drop them into the orange shoe-box.",
+    "Grab two the red shoe rounded at front, tips left, place them carefully in the smooth bright orange box.",
+    "Put two the lace-up red sports shoe into the smooth bright orange box, shoe tips left.",
+    "Grab two the red shoe rounded at front, tip left, place them in the orange shoe-box.",
+    "Place two the white bottom sports shoe inside the bright orange shoe-box, make tips face left.",
+    "Place two the white bottom sports shoe into the shoe-box with Nike printed logo, ensure shoe tips face left.",
+    "Position two the sports shoe into the orange cardboard shoe-box, shoe tips leftward.",
+    "Lift two the grooved sole red shoe, ensure left tips, drop in the rectangular shoe-box with orange lid.",
+    "Grab both the red sneaker, ensure tips left, place in the smooth orange box for shoes.",
+    "Set two the footwear with red top white sole into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Take two the lace-up red sports shoe, ensure tips left, place in the smooth bright orange box.",
+    "Move two the footwear with red top white sole into the smooth orange box for shoes, ensure tips point left.",
+    "Set two the lace-up red sports shoe in the rectangular shoe-box with orange lid with tips left.",
+    "Collect two the grooved sole red shoe, tips facing left, and put in the shoe-box with Nike printed logo.",
+    "Drop a pair of the red sneaker into the orange shoe-box, tips align left.",
+    "Pick up two the white bottom sports shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Grab a pair of the red sneaker, tips left, put them into the orange cardboard shoe-box.",
+    "Slide both the red sneaker into the orange cardboard shoe-box with tips pointing left.",
+    "Place two the red sneaker in the shoe-box with Nike printed logo, tip left when set.",
+    "Grab both the sports shoe and put them into the bright orange shoe-box, tips left.",
+    "Lift and put two the shoe with flat rubber sole in the orange cardboard shoe-box, tips left.",
+    "Lay down two the single red shoe in the medium orange box with smooth surface, tips oriented left.",
+    "Pick up two the red shoe rounded at front, tips left, and set them in the smooth bright orange box.",
+    "With both arms, move two the sports shoe into the rectangular shoe-box with orange lid, tips facing left.",
+    "Grasp two the single red shoe, tips aligned left, and place them in the smooth bright orange box.",
+    "Transfer two the white bottom sports shoe, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Use arms to lift two the medium red shoe, tips left, and set in the rectangular shoe-box with orange lid.",
+    "Use both arms to set two the medium red shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Make sure tips point left, then place the shoe with flat rubber sole in the orange Nike shoe-box with logo.",
+    "Ensure two the smooth-textured red shoe are in the orange cardboard shoe-box, tips facing left.",
+    "Stick both the red shoe with white sole in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Put two the red shoe rounded at front, tips to the left, into the bright orange shoe-box.",
+    "Hold two the single red shoe, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Place two the lace-up red sports shoe tips leftward into the the orange Nike shoe-box with logo.",
+    "Pick up two the footwear with red top white sole and set them in the rectangular orange shoe-box, tips left.",
+    "Grab and place two the lace-up red sports shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Move a pair of the medium red shoe into the orange shoe-box, left tips first.",
+    "Hold two the smooth-textured red shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Lift two the sports shoe, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Retrieve two the shoe with flat rubber sole, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Use hands to grab two the grooved sole red shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Arrange the two the sports shoe, tips left, inside the Nike-branded orange shoe-box.",
+    "Put two the red shoe rounded at front in the orange cardboard shoe-box with tips facing left.",
+    "Pick two the red shoe with white sole, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Set two the red shoe with white sole in the the orange shoe-box, tips pointing left.",
+    "Use both arms to place two the single red shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Handle two the single red shoe, tips directed left, and drop them into the orange shoe-box.",
+    "Move two the grooved sole red shoe, tip ends left, and set them in the smooth bright orange box.",
+    "Pick up two the shoe with flat rubber sole, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Grab two the red shoe with white sole, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Put two the medium red shoe into the shoe-box with Nike printed logo, shoe tips left.",
+    "Grab two the lace-up red sports shoe, tip left, place them in the orange Nike shoe-box with logo.",
+    "Place two the footwear with red top white sole inside the shoe-box with Nike printed logo, make tips face left.",
+    "Place two the footwear with red top white sole into the smooth bright orange box, ensure shoe tips face left.",
+    "Position two the shoe with flat rubber sole into the smooth bright orange box, shoe tips leftward.",
+    "Lift two the single red shoe, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Grab both the red sneaker, ensure tips left, place in the medium orange box with smooth surface.",
+    "Set two the white bottom sports shoe into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Take two the red shoe rounded at front, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Move two the grooved sole red shoe into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Set two the red shoe with white sole in the shoe-box with Nike printed logo with tips left.",
+    "Collect two the single red shoe, tips facing left, and put in the bright orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode326.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place two the white shoe with black accents tips leftward into the the rectangular shoe-box with orange lid.",
+    "Pick two the black-striped athletic shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Move a pair of the sports shoe into the bright orange shoe-box, left tips first.",
+    "Pick up two the footwear with white top together and place in the smooth bright orange box, tips left.",
+    "Grab both the white shoe with rubber bottom, ensure tips left, place in the medium orange box with smooth surface.",
+    "Ensure two the black-striped athletic shoe are in the orange Nike shoe-box with logo, tips facing left.",
+    "Put two the black-striped athletic shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Hold two the white shoe, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Use both arms to set two the lace-up black and white shoe in the medium orange box with smooth surface, tips left.",
+    "Grab two the shoe with smooth leather upper, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Move two the lace-up black and white shoe, tip ends left, and set them in the Nike-branded orange shoe-box.",
+    "Place two the lace-up black and white shoe into the smooth bright orange box, ensure shoe tips face left.",
+    "Set two the white shoe in the orange shoe-box with tips left.",
+    "Hold two the footwear with white top, tips left, and place in the smooth bright orange box.",
+    "Take two the brown sole shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Lift and put two the brown sole shoe in the shoe-box with Nike printed logo, tips left.",
+    "Grab both the shoe with textured brown sole and put them into the medium orange box with smooth surface, tips left.",
+    "Slide both the shoe with smooth leather upper into the medium orange box with smooth surface with tips pointing left.",
+    "Grab a pair of the white shoe with black accents, tips left, put them into the bright orange shoe-box.",
+    "Position two the shoe with smooth leather upper into the medium orange box with smooth surface, shoe tips leftward.",
+    "Use arms to lift two the rounded-toe gym shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Grasp two the shoe with textured brown sole, tips aligned left, and place them in the orange shoe-box.",
+    "Put two the lace-up shoe, tips to the left, into the rectangular orange shoe-box.",
+    "Lift two the sports shoe, ensure left tips, drop in the rectangular shoe-box with orange lid.",
+    "Use both arms to place two the footwear with white top into the Nike-branded orange shoe-box, tips left.",
+    "Lift two the lace-up shoe, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Pick up two the white shoe with black accents, tips left, and set them in the orange cardboard shoe-box.",
+    "Grab two the footwear with white top, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Collect two the white shoe with black accents, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Put two the lace-up black and white shoe in the Nike-branded orange shoe-box with tips facing left.",
+    "Stick both the rounded-toe gym shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Use hands to grab two the shoe with textured brown sole, tips left, drop into the orange Nike shoe-box with logo.",
+    "Retrieve two the footwear with white top, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Pick up two the white shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Place two the black-striped athletic shoe inside the orange shoe-box, make tips face left.",
+    "Set two the white shoe into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Transfer two the black-striped athletic shoe, tips left-aligned, into the bright orange shoe-box.",
+    "With both arms, move two the brown sole shoe into the bright orange shoe-box, tips facing left.",
+    "Grab and place two the lace-up black and white shoe in the rectangular orange shoe-box, tips left.",
+    "Make sure tips point left, then place the brown sole shoe in the medium orange box with smooth surface.",
+    "Move two the black-striped athletic shoe into the orange cardboard shoe-box, ensure tips point left.",
+    "Handle two the white shoe with rubber bottom, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Arrange the two the white shoe with black accents, tips left, inside the medium orange box with smooth surface.",
+    "Lay down two the lace-up shoe in the orange shoe-box, tips oriented left.",
+    "Pick up two the rounded-toe gym shoe, tips left, drop them into the orange cardboard shoe-box.",
+    "Set two the sports shoe in the the smooth bright orange box, tips pointing left.",
+    "Place two the shoe with textured brown sole in the smooth bright orange box, tip left when set.",
+    "Drop a pair of the brown sole shoe into the orange Nike shoe-box with logo, tips align left.",
+    "Place two the white shoe tips leftward into the the shoe-box with Nike printed logo.",
+    "Pick two the lace-up shoe, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Move a pair of the shoe with smooth leather upper into the smooth orange box for shoes, left tips first.",
+    "Pick up two the white shoe with rubber bottom together and place in the Nike-branded orange shoe-box, tips left.",
+    "Grab both the rounded-toe gym shoe, ensure tips left, place in the rectangular orange shoe-box.",
+    "Ensure two the white shoe are in the orange Nike shoe-box with logo, tips facing left.",
+    "Put two the black-striped athletic shoe into the rectangular orange shoe-box, shoe tips left.",
+    "Hold two the footwear with white top, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Use both arms to set two the black-striped athletic shoe in the smooth orange box for shoes, tips left.",
+    "Grab two the footwear with white top, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "Move two the white shoe, tip ends left, and set them in the orange shoe-box.",
+    "Place two the lace-up black and white shoe into the orange Nike shoe-box with logo, ensure shoe tips face left.",
+    "Set two the lace-up black and white shoe in the bright orange shoe-box with tips left.",
+    "Hold two the shoe with smooth leather upper, tips left, and place in the Nike-branded orange shoe-box.",
+    "Take two the shoe with smooth leather upper, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Lift and put two the sports shoe in the smooth orange box for shoes, tips left.",
+    "Grab both the sports shoe and put them into the smooth orange box for shoes, tips left.",
+    "Slide both the lace-up shoe into the orange Nike shoe-box with logo with tips pointing left.",
+    "Grab a pair of the lace-up shoe, tips left, put them into the bright orange shoe-box.",
+    "Position two the shoe with textured brown sole into the smooth orange box for shoes, shoe tips leftward.",
+    "Use arms to lift two the footwear with white top, tips left, and set in the orange cardboard shoe-box.",
+    "Grasp two the sports shoe, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Put two the sports shoe, tips to the left, into the smooth orange box for shoes.",
+    "Lift two the white shoe, ensure left tips, drop in the rectangular shoe-box with orange lid.",
+    "Use both arms to place two the footwear with white top into the bright orange shoe-box, tips left.",
+    "Lift two the shoe with textured brown sole, position them in the shoe-box with Nike printed logo, tips to the left.",
+    "Pick up two the lace-up shoe, tips left, and set them in the medium orange box with smooth surface.",
+    "Grab two the sports shoe, tip left, place them in the rectangular orange shoe-box.",
+    "Collect two the black-striped athletic shoe, tips facing left, and put in the orange shoe-box.",
+    "Put two the footwear with white top in the orange cardboard shoe-box with tips facing left.",
+    "Stick both the rounded-toe gym shoe in the medium orange box with smooth surface, shoe tips pointing left.",
+    "Use hands to grab two the lace-up shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Retrieve two the black-striped athletic shoe, orienting tips left, and place in the orange shoe-box.",
+    "Pick up two the white shoe with black accents and set them in the smooth orange box for shoes, tips left.",
+    "Place two the rounded-toe gym shoe inside the orange shoe-box, make tips face left.",
+    "Set two the lace-up shoe into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Transfer two the black-striped athletic shoe, tips left-aligned, into the orange shoe-box.",
+    "With both arms, move two the shoe with smooth leather upper into the bright orange shoe-box, tips facing left.",
+    "Grab and place two the brown sole shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Make sure tips point left, then place the lace-up shoe in the rectangular orange shoe-box.",
+    "Move two the shoe with textured brown sole into the rectangular shoe-box with orange lid, ensure tips point left.",
+    "Handle two the shoe with textured brown sole, tips directed left, and drop them into the bright orange shoe-box.",
+    "Arrange the two the footwear with white top, tips left, inside the Nike-branded orange shoe-box.",
+    "Lay down two the black-striped athletic shoe in the rectangular orange shoe-box, tips oriented left.",
+    "Pick up two the shoe with smooth leather upper, tips left, drop them into the medium orange box with smooth surface.",
+    "Set two the white shoe in the the smooth orange box for shoes, tips pointing left.",
+    "Place two the white shoe in the rectangular orange shoe-box, tip left when set.",
+    "Drop a pair of the white shoe into the Nike-branded orange shoe-box, tips align left.",
+    "Place two the footwear with white top tips leftward into the the orange Nike shoe-box with logo.",
+    "Pick two the white shoe with rubber bottom, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Move a pair of the white shoe with rubber bottom into the medium-sized box with Nike swoosh, left tips first.",
+    "Pick up two the lace-up black and white shoe together and place in the rectangular shoe-box with orange lid, tips left."
+  ],
+  "unseen": [
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Place two the white leather shoe with gum sole into the orange box for keeping shoes, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the white leather shoe with gum sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with black stripes to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with striped design and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with black stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Place two the white leather shoe with gum sole into the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white leather shoe with gum sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with striped design to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with black stripes into the medium cardboard shoe-box, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with striped design into the orange box for keeping shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with striped design in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with striped design into the orange box for keeping shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the white leather shoe with gum sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the white leather shoe with gum sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the white leather shoe with gum sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the shoe with black stripes into the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with black stripes to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the white leather shoe with gum sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white leather shoe with gum sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with black stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode333.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place two the shoe with patterned bottom inside the orange cardboard shoe-box, make tips face left.",
+    "Position two the smooth white shoe into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Grab two the shoe with textured sole, tips left, place them carefully in the orange shoe-box.",
+    "Make sure tips point left, then place the white shoe with rubber sole in the orange Nike shoe-box with logo.",
+    "Slide both the white shoe with rubber sole into the bright orange shoe-box with tips pointing left.",
+    "Retrieve two the shoe with lace holes, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Pick up two the medium-sized rounded white shoe, tips left, drop them into the smooth bright orange box.",
+    "Grab both the medium white shoe, ensure tips left, place in the medium orange box with smooth surface.",
+    "Put two the shoe with curved sole, tips to the left, into the rectangular orange shoe-box.",
+    "Ensure two the medium-sized rounded white shoe are in the bright orange shoe-box, tips facing left.",
+    "Handle two the white shoe with rubber sole, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Hold two the rubber sole shoe, tips left, and place in the smooth orange box for shoes.",
+    "Grab both the shoe with curved sole and put them into the orange cardboard shoe-box, tips left.",
+    "Use hands to grab two the white sneaker shoe, tips left, drop into the smooth orange box for shoes.",
+    "Drop a pair of the shoe with lace holes into the bright orange shoe-box, tips align left.",
+    "Grab a pair of the synthetic leather shoe, tips left, put them into the orange cardboard shoe-box.",
+    "Set two the medium white shoe in the the medium orange box with smooth surface, tips pointing left.",
+    "Pick two the synthetic leather shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Pick up two the synthetic leather shoe together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Place two the shoe with patterned bottom in the Nike-branded orange shoe-box, tip left when set.",
+    "Take two the shoe with patterned bottom, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Use both arms to set two the smooth white shoe in the rectangular orange shoe-box, tips left.",
+    "Lay down two the shoe with textured sole in the rectangular orange shoe-box, tips oriented left.",
+    "Lift and put two the shoe with lace holes in the orange shoe-box, tips left.",
+    "Lift two the white shoe with rubber sole, ensure left tips, drop in the bright orange shoe-box.",
+    "Set two the shoe for walking in the smooth orange box for shoes with tips left.",
+    "Place two the shoe with curved sole tips leftward into the the orange shoe-box.",
+    "Stick both the smooth white shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Use arms to lift two the white sneaker shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Grab and place two the shoe with textured sole in the bright orange shoe-box, tips left.",
+    "Set two the smooth white shoe into the the medium-sized box with Nike swoosh, align tips to the left.",
+    "Use both arms to place two the medium-sized rounded white shoe into the rectangular shoe-box with orange lid, tips left.",
+    "Put two the synthetic leather shoe into the bright orange shoe-box, shoe tips left.",
+    "Place two the shoe with lace holes into the smooth orange box for shoes, ensure shoe tips face left.",
+    "Move two the synthetic leather shoe into the smooth bright orange box, ensure tips point left.",
+    "Pick up two the rubber sole shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Transfer two the shoe for walking, tips left-aligned, into the medium orange box with smooth surface.",
+    "Pick up two the smooth white shoe, tips left, and set them in the medium-sized box with Nike swoosh.",
+    "Collect two the medium-sized rounded white shoe, tips facing left, and put in the smooth bright orange box.",
+    "Lift two the white shoe with rubber sole, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Grasp two the synthetic leather shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Put two the shoe with lace holes in the bright orange shoe-box with tips facing left.",
+    "Move a pair of the smooth white shoe into the rectangular orange shoe-box, left tips first.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the orange Nike shoe-box with logo.",
+    "With both arms, move two the medium-sized rounded white shoe into the Nike-branded orange shoe-box, tips facing left.",
+    "Hold two the smooth white shoe, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Move two the white sneaker shoe, tip ends left, and set them in the orange cardboard shoe-box.",
+    "Grab two the medium white shoe, tip left, place them in the smooth bright orange box.",
+    "Place two the shoe for walking inside the orange shoe-box, make tips face left.",
+    "Position two the shoe with patterned bottom into the orange shoe-box, shoe tips leftward.",
+    "Grab two the shoe for walking, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Make sure tips point left, then place the rubber sole shoe in the smooth orange box for shoes.",
+    "Slide both the rubber sole shoe into the orange Nike shoe-box with logo with tips pointing left.",
+    "Retrieve two the shoe with lace holes, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Pick up two the smooth white shoe, tips left, drop them into the rectangular orange shoe-box.",
+    "Grab both the shoe with lace holes, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Put two the shoe with patterned bottom, tips to the left, into the Nike-branded orange shoe-box.",
+    "Ensure two the medium-sized rounded white shoe are in the shoe-box with Nike printed logo, tips facing left.",
+    "Handle two the white shoe with rubber sole, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Hold two the white sneaker shoe, tips left, and place in the shoe-box with Nike printed logo.",
+    "Grab both the shoe with curved sole and put them into the smooth orange box for shoes, tips left.",
+    "Use hands to grab two the shoe with patterned bottom, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Drop a pair of the shoe with patterned bottom into the shoe-box with Nike printed logo, tips align left.",
+    "Grab a pair of the synthetic leather shoe, tips left, put them into the smooth bright orange box.",
+    "Set two the shoe with curved sole in the the medium-sized box with Nike swoosh, tips pointing left.",
+    "Pick two the smooth white shoe, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Pick up two the shoe with lace holes together and place in the smooth bright orange box, tips left.",
+    "Place two the synthetic leather shoe in the smooth bright orange box, tip left when set.",
+    "Take two the synthetic leather shoe, ensure tips left, place in the orange shoe-box.",
+    "Use both arms to set two the smooth white shoe in the orange cardboard shoe-box, tips left.",
+    "Lay down two the white sneaker shoe in the shoe-box with Nike printed logo, tips oriented left.",
+    "Lift and put two the synthetic leather shoe in the rectangular orange shoe-box, tips left.",
+    "Lift two the shoe with lace holes, ensure left tips, drop in the smooth orange box for shoes.",
+    "Set two the shoe with patterned bottom in the shoe-box with Nike printed logo with tips left.",
+    "Place two the medium-sized rounded white shoe tips leftward into the the shoe-box with Nike printed logo.",
+    "Stick both the rubber sole shoe in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Use arms to lift two the shoe with patterned bottom, tips left, and set in the shoe-box with Nike printed logo.",
+    "Grab and place two the shoe for walking in the medium orange box with smooth surface, tips left.",
+    "Set two the shoe with curved sole into the the orange shoe-box, align tips to the left.",
+    "Use both arms to place two the shoe for walking into the orange cardboard shoe-box, tips left.",
+    "Put two the medium white shoe into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Place two the shoe with curved sole into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Move two the shoe with curved sole into the orange shoe-box, ensure tips point left.",
+    "Pick up two the shoe with textured sole and set them in the rectangular orange shoe-box, tips left.",
+    "Transfer two the medium-sized rounded white shoe, tips left-aligned, into the bright orange shoe-box.",
+    "Pick up two the shoe with textured sole, tips left, and set them in the orange shoe-box.",
+    "Collect two the rubber sole shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Lift two the white sneaker shoe, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Grasp two the shoe with patterned bottom, tips aligned left, and place them in the orange shoe-box.",
+    "Put two the medium-sized rounded white shoe in the medium orange box with smooth surface with tips facing left.",
+    "Move a pair of the white shoe with rubber sole into the orange shoe-box, left tips first.",
+    "Arrange the two the shoe with patterned bottom, tips left, inside the orange cardboard shoe-box.",
+    "With both arms, move two the shoe with lace holes into the shoe-box with Nike printed logo, tips facing left.",
+    "Hold two the medium white shoe, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Move two the shoe with curved sole, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Grab two the shoe with patterned bottom, tip left, place them in the rectangular shoe-box with orange lid.",
+    "Place two the medium-sized rounded white shoe inside the orange Nike shoe-box with logo, make tips face left.",
+    "Position two the medium white shoe into the rectangular orange shoe-box, shoe tips leftward.",
+    "Grab two the shoe with patterned bottom, tips left, place them carefully in the smooth bright orange box.",
+    "Make sure tips point left, then place the rubber sole shoe in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the medium adult shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Place two the white shoe into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Place two the rounded white shoe into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the medium adult shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the medium adult shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Place two the rounded white shoe into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the medium cardboard shoe-box.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the rounded white shoe, place left tips in the medium cardboard shoe-box.",
+    "Place two the white shoe into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the medium adult shoe, place left tips in the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the medium adult shoe, place left tips in the rectangular Nike box for shoes.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode442.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the two the white sneaker shoe, tips left, inside the orange shoe-box.",
+    "Grab both the shoe with lace holes and put them into the rectangular orange shoe-box, tips left.",
+    "Place two the shoe with curved sole inside the rectangular shoe-box with orange lid, make tips face left.",
+    "Transfer two the shoe with patterned bottom, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Move two the white shoe with rubber sole into the rectangular shoe-box with orange lid, ensure tips point left.",
+    "Retrieve two the synthetic leather shoe, orienting tips left, and place in the medium-sized box with Nike swoosh.",
+    "Pick up two the shoe with patterned bottom and set them in the smooth bright orange box, tips left.",
+    "Grab and place two the medium white shoe in the medium orange box with smooth surface, tips left.",
+    "Put two the rubber sole shoe into the orange cardboard shoe-box, shoe tips left.",
+    "Handle two the shoe for walking, tips directed left, and drop them into the rectangular orange shoe-box.",
+    "Grab both the shoe with patterned bottom, ensure tips left, place in the rectangular orange shoe-box.",
+    "Set two the white sneaker shoe in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "Ensure two the shoe with textured sole are in the medium-sized box with Nike swoosh, tips facing left.",
+    "Move two the shoe with curved sole, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Lift two the rubber sole shoe, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Grasp two the medium-sized rounded white shoe, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Position two the medium white shoe into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Hold two the rubber sole shoe, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Slide both the white shoe with rubber sole into the bright orange shoe-box with tips pointing left.",
+    "Put two the shoe with patterned bottom, tips to the left, into the Nike-branded orange shoe-box.",
+    "Place two the rubber sole shoe into the orange shoe-box, ensure shoe tips face left.",
+    "Place two the shoe with curved sole in the smooth bright orange box, tip left when set.",
+    "Take two the shoe with patterned bottom, ensure tips left, place in the medium orange box with smooth surface.",
+    "Make sure tips point left, then place the shoe with curved sole in the rectangular orange shoe-box.",
+    "Use hands to grab two the medium-sized rounded white shoe, tips left, drop into the orange shoe-box.",
+    "Set two the white sneaker shoe in the medium orange box with smooth surface with tips left.",
+    "Lay down two the shoe with patterned bottom in the smooth bright orange box, tips oriented left.",
+    "Pick up two the synthetic leather shoe together and place in the orange Nike shoe-box with logo, tips left.",
+    "Pick up two the rubber sole shoe, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Grab a pair of the rubber sole shoe, tips left, put them into the medium orange box with smooth surface.",
+    "Place two the shoe with patterned bottom tips leftward into the the medium-sized box with Nike swoosh.",
+    "Move a pair of the white shoe with rubber sole into the Nike-branded orange shoe-box, left tips first.",
+    "Pick up two the rubber sole shoe, tips left, and set them in the orange shoe-box.",
+    "Grab two the medium white shoe, tips left, place them carefully in the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the synthetic leather shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Drop a pair of the rubber sole shoe into the smooth orange box for shoes, tips align left.",
+    "Lift two the rubber sole shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Stick both the shoe with curved sole in the medium orange box with smooth surface, shoe tips pointing left.",
+    "Use both arms to set two the white sneaker shoe in the orange cardboard shoe-box, tips left.",
+    "Grab two the shoe with lace holes, tip left, place them in the Nike-branded orange shoe-box.",
+    "Pick two the rubber sole shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Lift and put two the medium white shoe in the orange shoe-box, tips left.",
+    "Use arms to lift two the medium-sized rounded white shoe, tips left, and set in the medium orange box with smooth surface.",
+    "Collect two the smooth white shoe, tips facing left, and put in the smooth orange box for shoes.",
+    "With both arms, move two the smooth white shoe into the bright orange shoe-box, tips facing left.",
+    "Hold two the smooth white shoe, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Set two the synthetic leather shoe into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Put two the shoe with lace holes in the rectangular orange shoe-box with tips facing left.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the Nike-branded orange shoe-box.",
+    "Grab both the shoe with curved sole and put them into the medium orange box with smooth surface, tips left.",
+    "Place two the shoe with curved sole inside the shoe-box with Nike printed logo, make tips face left.",
+    "Transfer two the shoe with lace holes, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Move two the shoe with curved sole into the smooth orange box for shoes, ensure tips point left.",
+    "Retrieve two the white sneaker shoe, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Pick up two the white sneaker shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Grab and place two the smooth white shoe in the orange shoe-box, tips left.",
+    "Put two the medium-sized rounded white shoe into the Nike-branded orange shoe-box, shoe tips left.",
+    "Handle two the white shoe with rubber sole, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Grab both the white sneaker shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Set two the medium-sized rounded white shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Ensure two the shoe with lace holes are in the orange cardboard shoe-box, tips facing left.",
+    "Move two the medium white shoe, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Lift two the rubber sole shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Grasp two the white shoe with rubber sole, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Position two the shoe for walking into the medium orange box with smooth surface, shoe tips leftward.",
+    "Hold two the smooth white shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Slide both the shoe for walking into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Put two the rubber sole shoe, tips to the left, into the orange Nike shoe-box with logo.",
+    "Place two the shoe with patterned bottom into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Place two the white shoe with rubber sole in the smooth orange box for shoes, tip left when set.",
+    "Take two the shoe with patterned bottom, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Make sure tips point left, then place the synthetic leather shoe in the smooth orange box for shoes.",
+    "Use hands to grab two the shoe with textured sole, tips left, drop into the medium orange box with smooth surface.",
+    "Set two the shoe with curved sole in the orange cardboard shoe-box with tips left.",
+    "Lay down two the shoe with patterned bottom in the bright orange shoe-box, tips oriented left.",
+    "Pick up two the rubber sole shoe together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Pick up two the rubber sole shoe, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Grab a pair of the shoe with lace holes, tips left, put them into the Nike-branded orange shoe-box.",
+    "Place two the shoe for walking tips leftward into the the medium-sized box with Nike swoosh.",
+    "Move a pair of the shoe with curved sole into the bright orange shoe-box, left tips first.",
+    "Pick up two the medium-sized rounded white shoe, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Grab two the white shoe with rubber sole, tips left, place them carefully in the smooth orange box for shoes.",
+    "Use both arms to place two the white shoe with rubber sole into the smooth orange box for shoes, tips left.",
+    "Drop a pair of the shoe with curved sole into the shoe-box with Nike printed logo, tips align left.",
+    "Lift two the shoe for walking, position them in the shoe-box with Nike printed logo, tips to the left.",
+    "Stick both the shoe with textured sole in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Use both arms to set two the shoe with patterned bottom in the smooth orange box for shoes, tips left.",
+    "Grab two the medium white shoe, tip left, place them in the medium orange box with smooth surface.",
+    "Pick two the shoe with textured sole, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Lift and put two the rubber sole shoe in the orange shoe-box, tips left.",
+    "Use arms to lift two the smooth white shoe, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Collect two the medium-sized rounded white shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "With both arms, move two the white sneaker shoe into the medium-sized box with Nike swoosh, tips facing left.",
+    "Hold two the shoe with curved sole, tips left, and place in the smooth orange box for shoes.",
+    "Set two the rubber sole shoe into the the medium orange box with smooth surface, align tips to the left.",
+    "Put two the medium white shoe in the smooth orange box for shoes with tips facing left.",
+    "Arrange the two the shoe with curved sole, tips left, inside the bright orange shoe-box.",
+    "Grab both the white shoe with rubber sole and put them into the orange shoe-box, tips left.",
+    "Place two the synthetic leather shoe inside the rectangular orange shoe-box, make tips face left.",
+    "Transfer two the shoe with lace holes, tips left-aligned, into the rectangular shoe-box with orange lid."
+  ],
+  "unseen": [
+    "Place two the rounded white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the medium adult shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the white shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the medium adult shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the medium adult shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the medium adult shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the rounded white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the white shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode457.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold two the synthetic leather white shoe, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Slide both the medium-sized casual shoe into the smooth bright orange box with tips pointing left.",
+    "Move two the white shoe with curved sole, tip ends left, and set them in the smooth bright orange box.",
+    "Lift two the white and black combination shoe, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Lift two the sleek white walking shoe, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Set two the sleek white walking shoe in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "Pick two the white shoe with curved sole, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Grab both the white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Grab and place two the white shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Lay down two the synthetic leather white shoe in the bright orange shoe-box, tips oriented left.",
+    "Handle two the medium-sized casual shoe, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Arrange the two the shoe with black back detail, tips left, inside the bright orange shoe-box.",
+    "Pick up two the white shoe with rounded toe, tips left, drop them into the orange cardboard shoe-box.",
+    "Hold two the shoe with lace-up front, tips left, and place in the smooth bright orange box.",
+    "Transfer two the shoe for everyday walking, tips left-aligned, into the smooth orange box for shoes.",
+    "Put two the shoe with black heel patch into the orange Nike shoe-box with logo, shoe tips left.",
+    "Take two the shoe with lace-up front, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Drop a pair of the sleek white walking shoe into the Nike-branded orange shoe-box, tips align left.",
+    "Place two the shoe with black heel patch tips leftward into the the medium orange box with smooth surface.",
+    "Collect two the medium-sized casual shoe, tips facing left, and put in the rectangular orange shoe-box.",
+    "Grab both the white shoe with curved sole and put them into the Nike-branded orange shoe-box, tips left.",
+    "Set two the white shoe with rounded toe into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Place two the white shoe with curved sole in the orange Nike shoe-box with logo, tip left when set.",
+    "Grab a pair of the white shoe with curved sole, tips left, put them into the orange Nike shoe-box with logo.",
+    "Use arms to lift two the medium-sized casual shoe, tips left, and set in the bright orange shoe-box.",
+    "With both arms, move two the shoe for everyday walking into the orange shoe-box, tips facing left.",
+    "Grab two the white shoe with rounded toe, tips left, place them carefully in the orange shoe-box.",
+    "Move two the shoe for everyday walking into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Pick up two the shoe with black back detail, tips left, and set them in the smooth bright orange box.",
+    "Retrieve two the shoe with black heel patch, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Move a pair of the white shoe with curved sole into the medium orange box with smooth surface, left tips first.",
+    "Position two the white shoe with curved sole into the medium orange box with smooth surface, shoe tips leftward.",
+    "Put two the synthetic leather white shoe in the orange Nike shoe-box with logo with tips facing left.",
+    "Lift and put two the sleek white walking shoe in the rectangular orange shoe-box, tips left.",
+    "Pick up two the white shoe and set them in the orange cardboard shoe-box, tips left.",
+    "Grasp two the sleek white walking shoe, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Grab two the white shoe with rounded toe, tip left, place them in the medium orange box with smooth surface.",
+    "Stick both the white shoe with rounded toe in the smooth bright orange box, shoe tips pointing left.",
+    "Set two the shoe with black back detail in the shoe-box with Nike printed logo with tips left.",
+    "Put two the sleek white walking shoe, tips to the left, into the smooth bright orange box.",
+    "Use hands to grab two the shoe with lace-up front, tips left, drop into the bright orange shoe-box.",
+    "Use both arms to place two the synthetic leather white shoe into the Nike-branded orange shoe-box, tips left.",
+    "Use both arms to set two the medium-sized casual shoe in the smooth orange box for shoes, tips left.",
+    "Place two the medium-sized casual shoe into the medium orange box with smooth surface, ensure shoe tips face left.",
+    "Ensure two the shoe with black heel patch are in the medium orange box with smooth surface, tips facing left.",
+    "Pick up two the white shoe with curved sole together and place in the orange cardboard shoe-box, tips left.",
+    "Make sure tips point left, then place the white shoe with rounded toe in the medium-sized box with Nike swoosh.",
+    "Place two the shoe with black back detail inside the smooth bright orange box, make tips face left.",
+    "Hold two the shoe for everyday walking, drop them in the bright orange shoe-box, tips pointing left.",
+    "Slide both the soft rubber-soled white shoe into the medium orange box with smooth surface with tips pointing left.",
+    "Move two the synthetic leather white shoe, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Lift two the synthetic leather white shoe, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Lift two the sleek white walking shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Set two the white and black combination shoe in the the orange shoe-box, tips pointing left.",
+    "Pick two the shoe for everyday walking, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Grab both the white shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Grab and place two the soft rubber-soled white shoe in the rectangular orange shoe-box, tips left.",
+    "Lay down two the shoe with lace-up front in the Nike-branded orange shoe-box, tips oriented left.",
+    "Handle two the shoe with black heel patch, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Arrange the two the white shoe with rounded toe, tips left, inside the orange shoe-box.",
+    "Pick up two the shoe with black back detail, tips left, drop them into the rectangular orange shoe-box.",
+    "Hold two the white shoe with curved sole, tips left, and place in the medium-sized box with Nike swoosh.",
+    "Transfer two the white and black combination shoe, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Put two the synthetic leather white shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Take two the white shoe with rounded toe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Drop a pair of the shoe with lace-up front into the bright orange shoe-box, tips align left.",
+    "Place two the sleek white walking shoe tips leftward into the the smooth bright orange box.",
+    "Collect two the shoe with black back detail, tips facing left, and put in the medium orange box with smooth surface.",
+    "Grab both the shoe with black back detail and put them into the bright orange shoe-box, tips left.",
+    "Set two the soft rubber-soled white shoe into the the rectangular orange shoe-box, align tips to the left.",
+    "Place two the shoe for everyday walking in the smooth orange box for shoes, tip left when set.",
+    "Grab a pair of the shoe for everyday walking, tips left, put them into the rectangular orange shoe-box.",
+    "Use arms to lift two the shoe for everyday walking, tips left, and set in the Nike-branded orange shoe-box.",
+    "With both arms, move two the shoe for everyday walking into the smooth bright orange box, tips facing left.",
+    "Grab two the shoe for everyday walking, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "Move two the white shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Pick up two the synthetic leather white shoe, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Retrieve two the synthetic leather white shoe, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Move a pair of the shoe for everyday walking into the Nike-branded orange shoe-box, left tips first.",
+    "Position two the shoe for everyday walking into the smooth bright orange box, shoe tips leftward.",
+    "Put two the synthetic leather white shoe in the orange cardboard shoe-box with tips facing left.",
+    "Lift and put two the synthetic leather white shoe in the orange cardboard shoe-box, tips left.",
+    "Pick up two the white and black combination shoe and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Grasp two the synthetic leather white shoe, tips aligned left, and place them in the rectangular shoe-box with orange lid.",
+    "Grab two the medium-sized casual shoe, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Stick both the white shoe with curved sole in the Nike-branded orange shoe-box, shoe tips pointing left.",
+    "Set two the white shoe with rounded toe in the smooth bright orange box with tips left.",
+    "Put two the synthetic leather white shoe, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the white and black combination shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the white shoe with curved sole into the rectangular shoe-box with orange lid, tips left.",
+    "Use both arms to set two the sleek white walking shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Place two the synthetic leather white shoe into the bright orange shoe-box, ensure shoe tips face left.",
+    "Ensure two the shoe with black back detail are in the rectangular orange shoe-box, tips facing left.",
+    "Pick up two the white shoe together and place in the rectangular shoe-box with orange lid, tips left.",
+    "Make sure tips point left, then place the shoe with black heel patch in the rectangular orange shoe-box.",
+    "Place two the synthetic leather white shoe inside the orange cardboard shoe-box, make tips face left.",
+    "Hold two the synthetic leather white shoe, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Slide both the white shoe with rounded toe into the medium orange box with smooth surface with tips pointing left.",
+    "Move two the shoe with black back detail, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Lift two the medium-sized casual shoe, position them in the rectangular orange shoe-box, tips to the left."
+  ],
+  "unseen": [
+    "Grab a pair of the shoe with rubber bottom, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with rubber bottom and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with rubber bottom, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black-accented white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the smooth white shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Place two the black-accented white shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the smooth white shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth white shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the smooth white shoe with laces in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black-accented white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Put a pair of the smooth white shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with rubber bottom and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with rubber bottom, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with rubber bottom in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black-accented white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the orange box for keeping shoes.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Put a pair of the shoe with rubber bottom in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the black-accented white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the smooth white shoe with laces to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black-accented white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth white shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the black-accented white shoe into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with rubber bottom in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the smooth white shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black-accented white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with rubber bottom and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black-accented white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with rubber bottom, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the shoe with rubber bottom into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the black-accented white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the smooth white shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black-accented white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with rubber bottom to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the smooth white shoe with laces and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the smooth white shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the shoe with rubber bottom into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the black-accented white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black-accented white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the shoe with rubber bottom, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with rubber bottom, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black-accented white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth white shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black-accented white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the smooth white shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Place two the smooth white shoe with laces into the orange box for keeping shoes, tips left.",
+    "Put a pair of the black-accented white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the smooth white shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with rubber bottom, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth white shoe with laces, place left tips in the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode482.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position two the shoe with curved sole into the smooth orange box for shoes, shoe tips leftward.",
+    "Hold two the black and white shoe, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Set two the black shoe with white accents in the rectangular shoe-box with orange lid with tips left.",
+    "Put two the shoe made of rubber and leather, tips to the left, into the rectangular orange shoe-box.",
+    "Lift and put two the shoe with curved sole in the orange Nike shoe-box with logo, tips left.",
+    "Pick two the comfortable shoe for walking, ensure tips facing left, and position in the smooth bright orange box.",
+    "Set two the wearable foot protector shoe into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Pick up two the medium-sized black and white shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Lift two the synthetic leather shoe, ensure left tips, drop in the rectangular orange shoe-box.",
+    "Grab a pair of the dual-tone shoe with sleek design, tips left, put them into the rectangular orange shoe-box.",
+    "With both arms, move two the synthetic leather shoe into the orange Nike shoe-box with logo, tips facing left.",
+    "Retrieve two the average adult-sized shoe, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Drop a pair of the synthetic leather shoe into the medium orange box with smooth surface, tips align left.",
+    "Put two the black and white shoe into the orange cardboard shoe-box, shoe tips left.",
+    "Grasp two the comfortable shoe for walking, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Pick up two the black shoe with white accents, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "Collect two the medium-sized black and white shoe, tips facing left, and put in the rectangular shoe-box with orange lid.",
+    "Grab both the shoe with curved sole, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Make sure tips point left, then place the shoe with curved sole in the Nike-branded orange shoe-box.",
+    "Place two the rubber-soled shoe with lace-up top inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Take two the rubber-soled shoe with lace-up top, ensure tips left, place in the medium orange box with smooth surface.",
+    "Use hands to grab two the average adult-sized shoe, tips left, drop into the orange cardboard shoe-box.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the smooth orange box for shoes.",
+    "Pick up two the shoe with smooth top and grippy sole and set them in the medium orange box with smooth surface, tips left.",
+    "Move two the average adult-sized shoe into the bright orange shoe-box, ensure tips point left.",
+    "Grab both the synthetic leather shoe and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Place two the synthetic leather shoe in the medium-sized box with Nike swoosh, tip left when set.",
+    "Stick both the synthetic leather shoe in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Ensure two the medium-sized black and white shoe are in the Nike-branded orange shoe-box, tips facing left.",
+    "Put two the shoe with curved sole in the orange shoe-box with tips facing left.",
+    "Set two the shoe made of rubber and leather in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "Pick up two the shoe with smooth top and grippy sole, tips left, and set them in the bright orange shoe-box.",
+    "Place two the wearable foot protector shoe tips leftward into the the shoe-box with Nike printed logo.",
+    "Handle two the shoe made of rubber and leather, tips directed left, and drop them into the orange shoe-box.",
+    "Use both arms to place two the shoe with smooth top and grippy sole into the bright orange shoe-box, tips left.",
+    "Move two the black shoe with white accents, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Grab two the shoe with curved sole, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Use arms to lift two the shoe with smooth top and grippy sole, tips left, and set in the orange cardboard shoe-box.",
+    "Use both arms to set two the shoe with smooth top and grippy sole in the smooth orange box for shoes, tips left.",
+    "Grab and place two the black and white shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the rubber-soled shoe with lace-up top into the orange Nike shoe-box with logo with tips pointing left.",
+    "Move a pair of the shoe with curved sole into the smooth orange box for shoes, left tips first.",
+    "Lift two the shoe with smooth top and grippy sole, position them in the medium orange box with smooth surface, tips to the left.",
+    "Transfer two the synthetic leather shoe, tips left-aligned, into the medium-sized box with Nike swoosh.",
+    "Lay down two the shoe with curved sole in the orange Nike shoe-box with logo, tips oriented left.",
+    "Hold two the average adult-sized shoe, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Place two the dual-tone shoe with sleek design into the smooth bright orange box, ensure shoe tips face left.",
+    "Grab two the comfortable shoe for walking, tip left, place them in the medium orange box with smooth surface.",
+    "Position two the wearable foot protector shoe into the smooth orange box for shoes, shoe tips leftward.",
+    "Hold two the black shoe with white accents, tips left, and place in the medium orange box with smooth surface.",
+    "Set two the comfortable shoe for walking in the rectangular shoe-box with orange lid with tips left.",
+    "Put two the black and white shoe, tips to the left, into the Nike-branded orange shoe-box.",
+    "Lift and put two the medium-sized black and white shoe in the rectangular orange shoe-box, tips left.",
+    "Pick two the shoe made of rubber and leather, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Set two the black shoe with white accents into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Pick up two the average adult-sized shoe together and place in the rectangular orange shoe-box, tips left.",
+    "Lift two the black and white shoe, ensure left tips, drop in the smooth bright orange box.",
+    "Grab a pair of the shoe made of rubber and leather, tips left, put them into the shoe-box with Nike printed logo.",
+    "With both arms, move two the synthetic leather shoe into the smooth orange box for shoes, tips facing left.",
+    "Retrieve two the comfortable shoe for walking, orienting tips left, and place in the medium-sized box with Nike swoosh.",
+    "Drop a pair of the shoe with curved sole into the rectangular orange shoe-box, tips align left.",
+    "Put two the shoe with curved sole into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Grasp two the shoe made of rubber and leather, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Pick up two the shoe made of rubber and leather, tips left, drop them into the bright orange shoe-box.",
+    "Collect two the average adult-sized shoe, tips facing left, and put in the medium orange box with smooth surface.",
+    "Grab both the medium-sized black and white shoe, ensure tips left, place in the smooth orange box for shoes.",
+    "Make sure tips point left, then place the comfortable shoe for walking in the medium-sized box with Nike swoosh.",
+    "Place two the synthetic leather shoe inside the smooth orange box for shoes, make tips face left.",
+    "Take two the synthetic leather shoe, ensure tips left, place in the orange shoe-box.",
+    "Use hands to grab two the dual-tone shoe with sleek design, tips left, drop into the shoe-box with Nike printed logo.",
+    "Arrange the two the rubber-soled shoe with lace-up top, tips left, inside the shoe-box with Nike printed logo.",
+    "Pick up two the synthetic leather shoe and set them in the shoe-box with Nike printed logo, tips left.",
+    "Move two the medium-sized black and white shoe into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Grab both the shoe with smooth top and grippy sole and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Place two the shoe with smooth top and grippy sole in the rectangular orange shoe-box, tip left when set.",
+    "Stick both the black shoe with white accents in the medium orange box with smooth surface, shoe tips pointing left.",
+    "Ensure two the shoe with smooth top and grippy sole are in the orange Nike shoe-box with logo, tips facing left.",
+    "Put two the black shoe with white accents in the smooth bright orange box with tips facing left.",
+    "Set two the comfortable shoe for walking in the the smooth orange box for shoes, tips pointing left.",
+    "Pick up two the comfortable shoe for walking, tips left, and set them in the medium orange box with smooth surface.",
+    "Place two the rubber-soled shoe with lace-up top tips leftward into the the medium-sized box with Nike swoosh.",
+    "Handle two the shoe made of rubber and leather, tips directed left, and drop them into the orange cardboard shoe-box.",
+    "Use both arms to place two the rubber-soled shoe with lace-up top into the bright orange shoe-box, tips left.",
+    "Move two the average adult-sized shoe, tip ends left, and set them in the bright orange shoe-box.",
+    "Grab two the medium-sized black and white shoe, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "Use arms to lift two the black shoe with white accents, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Use both arms to set two the black shoe with white accents in the smooth orange box for shoes, tips left.",
+    "Grab and place two the average adult-sized shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the black and white shoe into the smooth orange box for shoes with tips pointing left.",
+    "Move a pair of the dual-tone shoe with sleek design into the bright orange shoe-box, left tips first.",
+    "Lift two the black shoe with white accents, position them in the medium orange box with smooth surface, tips to the left.",
+    "Transfer two the black shoe with white accents, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Lay down two the wearable foot protector shoe in the smooth bright orange box, tips oriented left.",
+    "Hold two the dual-tone shoe with sleek design, drop them in the smooth bright orange box, tips pointing left.",
+    "Place two the black and white shoe into the smooth orange box for shoes, ensure shoe tips face left.",
+    "Grab two the shoe made of rubber and leather, tip left, place them in the medium orange box with smooth surface.",
+    "Position two the shoe made of rubber and leather into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Hold two the medium-sized black and white shoe, tips left, and place in the bright orange shoe-box.",
+    "Set two the dual-tone shoe with sleek design in the Nike-branded orange shoe-box with tips left.",
+    "Put two the black and white shoe, tips to the left, into the shoe-box with Nike printed logo."
+  ],
+  "unseen": [
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with white midsole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode50.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take two the white shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Transfer two the white shoe with black accents, tips left-aligned, into the orange shoe-box.",
+    "Grab and place two the shoe with smooth leather upper in the bright orange shoe-box, tips left.",
+    "Set two the white shoe with rubber bottom in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Arrange the two the white shoe with rubber bottom, tips left, inside the orange shoe-box.",
+    "Place two the sports shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Use arms to lift two the shoe with textured brown sole, tips left, and set in the orange cardboard shoe-box.",
+    "Pick up two the rounded-toe gym shoe, tips left, and set them in the Nike-branded orange shoe-box.",
+    "Lift and put two the rounded-toe gym shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Hold two the lace-up black and white shoe, drop them in the orange shoe-box, tips pointing left.",
+    "Make sure tips point left, then place the lace-up shoe in the orange shoe-box.",
+    "Drop a pair of the white shoe into the orange cardboard shoe-box, tips align left.",
+    "Put two the shoe with textured brown sole, tips to the left, into the shoe-box with Nike printed logo.",
+    "Move two the rounded-toe gym shoe into the orange Nike shoe-box with logo, ensure tips point left.",
+    "Put two the white shoe into the bright orange shoe-box, shoe tips left.",
+    "Slide both the white shoe with rubber bottom into the bright orange shoe-box with tips pointing left.",
+    "Lift two the white shoe, position them in the orange cardboard shoe-box, tips to the left.",
+    "Grab both the lace-up black and white shoe, ensure tips left, place in the orange shoe-box.",
+    "Position two the rounded-toe gym shoe into the smooth orange box for shoes, shoe tips leftward.",
+    "With both arms, move two the footwear with white top into the medium-sized box with Nike swoosh, tips facing left.",
+    "Move a pair of the sports shoe into the rectangular orange shoe-box, left tips first.",
+    "Hold two the white shoe, tips left, and place in the rectangular orange shoe-box.",
+    "Pick up two the sports shoe, tips left, drop them into the medium orange box with smooth surface.",
+    "Pick up two the rounded-toe gym shoe together and place in the orange shoe-box, tips left.",
+    "Lay down two the footwear with white top in the shoe-box with Nike printed logo, tips oriented left.",
+    "Retrieve two the white shoe, orienting tips left, and place in the orange cardboard shoe-box.",
+    "Place two the white shoe in the shoe-box with Nike printed logo, tip left when set.",
+    "Place two the brown sole shoe tips leftward into the the orange shoe-box.",
+    "Stick both the white shoe with rubber bottom in the medium orange box with smooth surface, shoe tips pointing left.",
+    "Grab both the shoe with textured brown sole and put them into the bright orange shoe-box, tips left.",
+    "Move two the shoe with textured brown sole, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Use hands to grab two the white shoe with rubber bottom, tips left, drop into the smooth bright orange box.",
+    "Use both arms to set two the footwear with white top in the Nike-branded orange shoe-box, tips left.",
+    "Grab a pair of the white shoe, tips left, put them into the orange Nike shoe-box with logo.",
+    "Pick up two the lace-up shoe and set them in the orange cardboard shoe-box, tips left.",
+    "Lift two the white shoe with rubber bottom, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Use both arms to place two the white shoe with black accents into the bright orange shoe-box, tips left.",
+    "Collect two the lace-up black and white shoe, tips facing left, and put in the medium-sized box with Nike swoosh.",
+    "Grasp two the white shoe, tips aligned left, and place them in the shoe-box with Nike printed logo.",
+    "Grab two the lace-up black and white shoe, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "Handle two the footwear with white top, tips directed left, and drop them into the orange shoe-box.",
+    "Pick two the sports shoe, ensure tips facing left, and position in the smooth bright orange box.",
+    "Grab two the shoe with smooth leather upper, tip left, place them in the orange shoe-box.",
+    "Ensure two the white shoe with rubber bottom are in the smooth orange box for shoes, tips facing left.",
+    "Set two the footwear with white top in the orange cardboard shoe-box with tips left.",
+    "Place two the lace-up shoe inside the smooth bright orange box, make tips face left.",
+    "Put two the sports shoe in the medium orange box with smooth surface with tips facing left.",
+    "Set two the black-striped athletic shoe into the the bright orange shoe-box, align tips to the left.",
+    "Take two the white shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Transfer two the white shoe, tips left-aligned, into the orange shoe-box.",
+    "Grab and place two the lace-up black and white shoe in the orange shoe-box, tips left.",
+    "Set two the white shoe with black accents in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Arrange the two the black-striped athletic shoe, tips left, inside the orange cardboard shoe-box.",
+    "Place two the footwear with white top into the bright orange shoe-box, ensure shoe tips face left.",
+    "Use arms to lift two the shoe with textured brown sole, tips left, and set in the bright orange shoe-box.",
+    "Pick up two the white shoe with rubber bottom, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Lift and put two the rounded-toe gym shoe in the smooth bright orange box, tips left.",
+    "Hold two the lace-up black and white shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Make sure tips point left, then place the black-striped athletic shoe in the smooth bright orange box.",
+    "Drop a pair of the shoe with smooth leather upper into the rectangular orange shoe-box, tips align left.",
+    "Put two the lace-up black and white shoe, tips to the left, into the medium orange box with smooth surface.",
+    "Move two the white shoe with rubber bottom into the rectangular orange shoe-box, ensure tips point left.",
+    "Put two the lace-up black and white shoe into the smooth orange box for shoes, shoe tips left.",
+    "Slide both the white shoe into the bright orange shoe-box with tips pointing left.",
+    "Lift two the rounded-toe gym shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Grab both the brown sole shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Position two the lace-up black and white shoe into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "With both arms, move two the black-striped athletic shoe into the smooth bright orange box, tips facing left.",
+    "Move a pair of the lace-up shoe into the orange Nike shoe-box with logo, left tips first.",
+    "Hold two the black-striped athletic shoe, tips left, and place in the bright orange shoe-box.",
+    "Pick up two the white shoe with black accents, tips left, drop them into the bright orange shoe-box.",
+    "Pick up two the sports shoe together and place in the orange cardboard shoe-box, tips left.",
+    "Lay down two the shoe with textured brown sole in the orange shoe-box, tips oriented left.",
+    "Retrieve two the footwear with white top, orienting tips left, and place in the orange cardboard shoe-box.",
+    "Place two the lace-up black and white shoe in the shoe-box with Nike printed logo, tip left when set.",
+    "Place two the white shoe with rubber bottom tips leftward into the the orange shoe-box.",
+    "Stick both the white shoe in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Grab both the lace-up black and white shoe and put them into the orange shoe-box, tips left.",
+    "Move two the white shoe with rubber bottom, tip ends left, and set them in the orange cardboard shoe-box.",
+    "Use hands to grab two the lace-up shoe, tips left, drop into the rectangular orange shoe-box.",
+    "Use both arms to set two the white shoe with rubber bottom in the rectangular orange shoe-box, tips left.",
+    "Grab a pair of the lace-up black and white shoe, tips left, put them into the orange shoe-box.",
+    "Pick up two the rounded-toe gym shoe and set them in the Nike-branded orange shoe-box, tips left.",
+    "Lift two the footwear with white top, ensure left tips, drop in the rectangular orange shoe-box.",
+    "Use both arms to place two the brown sole shoe into the bright orange shoe-box, tips left.",
+    "Collect two the lace-up black and white shoe, tips facing left, and put in the orange shoe-box.",
+    "Grasp two the shoe with smooth leather upper, tips aligned left, and place them in the medium orange box with smooth surface.",
+    "Grab two the footwear with white top, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Handle two the rounded-toe gym shoe, tips directed left, and drop them into the orange cardboard shoe-box.",
+    "Pick two the white shoe with rubber bottom, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Grab two the footwear with white top, tip left, place them in the rectangular orange shoe-box.",
+    "Ensure two the lace-up black and white shoe are in the medium orange box with smooth surface, tips facing left.",
+    "Set two the white shoe with rubber bottom in the smooth bright orange box with tips left.",
+    "Place two the white shoe with black accents inside the orange cardboard shoe-box, make tips face left.",
+    "Put two the white shoe in the orange Nike shoe-box with logo with tips facing left.",
+    "Set two the sports shoe into the the orange cardboard shoe-box, align tips to the left.",
+    "Take two the lace-up black and white shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Transfer two the brown sole shoe, tips left-aligned, into the smooth orange box for shoes.",
+    "Grab and place two the lace-up black and white shoe in the orange Nike shoe-box with logo, tips left.",
+    "Set two the rounded-toe gym shoe in the the medium-sized box with Nike swoosh, tips pointing left."
+  ],
+  "unseen": [
+    "Grab two the white leather shoe with gum sole and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the white leather shoe with gum sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the white leather shoe with gum sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with black stripes into the medium cardboard shoe-box, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with black stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the shoe with striped design to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with black stripes into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with black stripes and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the white leather shoe with gum sole in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the white leather shoe with gum sole and set them in the orange box for keeping shoes, tips left.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the white leather shoe with gum sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with striped design into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with striped design in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the white leather shoe with gum sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the shoe with black stripes to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the shoe with black stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the white leather shoe with gum sole into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with black stripes into the orange box for keeping shoes, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with striped design in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the white leather shoe with gum sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Grab two the white leather shoe with gum sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with striped design in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the shoe with black stripes to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with black stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the rectangular Nike box for shoes, tips left."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode58.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lay down two the sports shoe in the orange Nike shoe-box with logo, tips oriented left.",
+    "Use arms to lift two the white bottom sports shoe, tips left, and set in the rectangular orange shoe-box.",
+    "Stick both the white bottom sports shoe in the bright orange shoe-box, shoe tips pointing left.",
+    "Grab and place two the smooth-textured red shoe in the orange shoe-box, tips left.",
+    "Make sure tips point left, then place the red shoe rounded at front in the smooth orange box for shoes.",
+    "Move a pair of the single red shoe into the smooth bright orange box, left tips first.",
+    "Lift and put two the medium red shoe in the orange shoe-box, tips left.",
+    "Grab two the shoe with flat rubber sole, tip left, place them in the shoe-box with Nike printed logo.",
+    "Arrange the two the smooth-textured red shoe, tips left, inside the orange shoe-box.",
+    "Place two the smooth-textured red shoe tips leftward into the the medium orange box with smooth surface.",
+    "Pick up two the footwear with red top white sole, tips left, and set them in the smooth orange box for shoes.",
+    "Hold two the medium red shoe, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "With both arms, move two the white bottom sports shoe into the medium-sized box with Nike swoosh, tips facing left.",
+    "Grab a pair of the lace-up red sports shoe, tips left, put them into the orange shoe-box.",
+    "Slide both the red shoe rounded at front into the medium orange box with smooth surface with tips pointing left.",
+    "Handle two the medium red shoe, tips directed left, and drop them into the rectangular orange shoe-box.",
+    "Place two the grooved sole red shoe into the smooth bright orange box, ensure shoe tips face left.",
+    "Pick up two the shoe with flat rubber sole together and place in the rectangular orange shoe-box, tips left.",
+    "Put two the red sneaker into the bright orange shoe-box, shoe tips left.",
+    "Lift two the smooth-textured red shoe, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Put two the red shoe rounded at front, tips to the left, into the smooth bright orange box.",
+    "Use both arms to set two the shoe with flat rubber sole in the medium-sized box with Nike swoosh, tips left.",
+    "Place two the grooved sole red shoe in the orange Nike shoe-box with logo, tip left when set.",
+    "Pick two the medium red shoe, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Pick up two the lace-up red sports shoe, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Collect two the red sneaker, tips facing left, and put in the smooth orange box for shoes.",
+    "Transfer two the sports shoe, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Set two the footwear with red top white sole into the the medium orange box with smooth surface, align tips to the left.",
+    "Put two the single red shoe in the shoe-box with Nike printed logo with tips facing left.",
+    "Use hands to grab two the medium red shoe, tips left, drop into the medium orange box with smooth surface.",
+    "Retrieve two the footwear with red top white sole, orienting tips left, and place in the Nike-branded orange shoe-box.",
+    "Move two the shoe with flat rubber sole into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Move two the single red shoe, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Use both arms to place two the red shoe with white sole into the Nike-branded orange shoe-box, tips left.",
+    "Lift two the smooth-textured red shoe, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Ensure two the grooved sole red shoe are in the orange cardboard shoe-box, tips facing left.",
+    "Grab both the red shoe rounded at front, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Pick up two the sports shoe and set them in the orange cardboard shoe-box, tips left.",
+    "Place two the red sneaker inside the orange cardboard shoe-box, make tips face left.",
+    "Grab two the sports shoe, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Position two the smooth-textured red shoe into the orange Nike shoe-box with logo, shoe tips leftward.",
+    "Set two the sports shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Grab both the red sneaker and put them into the smooth orange box for shoes, tips left.",
+    "Set two the shoe with flat rubber sole in the bright orange shoe-box with tips left.",
+    "Take two the smooth-textured red shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Grasp two the red shoe with white sole, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Hold two the red shoe rounded at front, tips left, and place in the medium orange box with smooth surface.",
+    "Drop a pair of the sports shoe into the medium orange box with smooth surface, tips align left.",
+    "Lay down two the red sneaker in the bright orange shoe-box, tips oriented left.",
+    "Use arms to lift two the smooth-textured red shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Stick both the smooth-textured red shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Grab and place two the shoe with flat rubber sole in the medium-sized box with Nike swoosh, tips left.",
+    "Make sure tips point left, then place the red shoe rounded at front in the rectangular orange shoe-box.",
+    "Move a pair of the red shoe rounded at front into the rectangular shoe-box with orange lid, left tips first.",
+    "Lift and put two the medium red shoe in the Nike-branded orange shoe-box, tips left.",
+    "Grab two the lace-up red sports shoe, tip left, place them in the smooth orange box for shoes.",
+    "Arrange the two the footwear with red top white sole, tips left, inside the rectangular shoe-box with orange lid.",
+    "Place two the sports shoe tips leftward into the the rectangular orange shoe-box.",
+    "Pick up two the footwear with red top white sole, tips left, and set them in the smooth bright orange box.",
+    "Hold two the red shoe rounded at front, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "With both arms, move two the white bottom sports shoe into the medium orange box with smooth surface, tips facing left.",
+    "Grab a pair of the red shoe rounded at front, tips left, put them into the smooth bright orange box.",
+    "Slide both the footwear with red top white sole into the orange cardboard shoe-box with tips pointing left.",
+    "Handle two the medium red shoe, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Place two the smooth-textured red shoe into the bright orange shoe-box, ensure shoe tips face left.",
+    "Pick up two the smooth-textured red shoe together and place in the bright orange shoe-box, tips left.",
+    "Put two the shoe with flat rubber sole into the bright orange shoe-box, shoe tips left.",
+    "Lift two the shoe with flat rubber sole, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Put two the grooved sole red shoe, tips to the left, into the smooth bright orange box.",
+    "Use both arms to set two the medium red shoe in the orange Nike shoe-box with logo, tips left.",
+    "Place two the red shoe with white sole in the rectangular shoe-box with orange lid, tip left when set.",
+    "Pick two the footwear with red top white sole, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Pick up two the lace-up red sports shoe, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "Collect two the red sneaker, tips facing left, and put in the medium orange box with smooth surface.",
+    "Transfer two the shoe with flat rubber sole, tips left-aligned, into the rectangular orange shoe-box.",
+    "Set two the medium red shoe into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Put two the red shoe rounded at front in the orange shoe-box with tips facing left.",
+    "Use hands to grab two the single red shoe, tips left, drop into the orange cardboard shoe-box.",
+    "Retrieve two the red shoe rounded at front, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Move two the footwear with red top white sole into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Move two the lace-up red sports shoe, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the lace-up red sports shoe into the bright orange shoe-box, tips left.",
+    "Lift two the sports shoe, position them in the orange cardboard shoe-box, tips to the left.",
+    "Ensure two the footwear with red top white sole are in the smooth orange box for shoes, tips facing left.",
+    "Grab both the medium red shoe, ensure tips left, place in the smooth bright orange box.",
+    "Pick up two the smooth-textured red shoe and set them in the smooth orange box for shoes, tips left.",
+    "Place two the medium red shoe inside the medium orange box with smooth surface, make tips face left.",
+    "Grab two the footwear with red top white sole, tips left, place them carefully in the bright orange shoe-box.",
+    "Position two the lace-up red sports shoe into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Set two the shoe with flat rubber sole in the the medium-sized box with Nike swoosh, tips pointing left.",
+    "Grab both the footwear with red top white sole and put them into the orange Nike shoe-box with logo, tips left.",
+    "Set two the grooved sole red shoe in the shoe-box with Nike printed logo with tips left.",
+    "Take two the smooth-textured red shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Grasp two the smooth-textured red shoe, tips aligned left, and place them in the medium orange box with smooth surface.",
+    "Hold two the medium red shoe, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Drop a pair of the red shoe with white sole into the shoe-box with Nike printed logo, tips align left.",
+    "Lay down two the white bottom sports shoe in the medium orange box with smooth surface, tips oriented left.",
+    "Use arms to lift two the shoe with flat rubber sole, tips left, and set in the bright orange shoe-box.",
+    "Stick both the single red shoe in the rectangular shoe-box with orange lid, shoe tips pointing left.",
+    "Grab and place two the grooved sole red shoe in the bright orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the synthetic shoe upper into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the red sneaker medium sized in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the red shoe into the orange box for keeping shoes, tips left.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/arx-x5_randomized_500/instructions/episode60.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put two the black shoe with white accents, tips to the left, into the shoe-box with Nike printed logo.",
+    "Grasp two the comfortable shoe for walking, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Grab both the comfortable shoe for walking, ensure tips left, place in the orange cardboard shoe-box.",
+    "Put two the wearable foot protector shoe into the medium-sized box with Nike swoosh, shoe tips left.",
+    "Pick up two the average adult-sized shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Grab two the shoe with smooth top and grippy sole, tip left, place them in the medium orange box with smooth surface.",
+    "Set two the comfortable shoe for walking in the shoe-box with Nike printed logo with tips left.",
+    "Drop a pair of the black and white shoe into the orange Nike shoe-box with logo, tips align left.",
+    "Place two the shoe with curved sole in the medium orange box with smooth surface, tip left when set.",
+    "Stick both the wearable foot protector shoe in the smooth bright orange box, shoe tips pointing left.",
+    "Place two the shoe with smooth top and grippy sole tips leftward into the the rectangular orange shoe-box.",
+    "Make sure tips point left, then place the black shoe with white accents in the rectangular orange shoe-box.",
+    "Lift two the dual-tone shoe with sleek design, ensure left tips, drop in the smooth orange box for shoes.",
+    "Move a pair of the synthetic leather shoe into the orange cardboard shoe-box, left tips first.",
+    "Use both arms to place two the black and white shoe into the orange cardboard shoe-box, tips left.",
+    "Transfer two the medium-sized black and white shoe, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Grab and place two the medium-sized black and white shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Position two the medium-sized black and white shoe into the bright orange shoe-box, shoe tips leftward.",
+    "Lay down two the black and white shoe in the rectangular orange shoe-box, tips oriented left.",
+    "Hold two the medium-sized black and white shoe, tips left, and place in the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the wearable foot protector shoe, tips left, drop into the orange shoe-box.",
+    "Take two the black and white shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Lift two the black and white shoe, position them in the orange cardboard shoe-box, tips to the left.",
+    "Set two the black and white shoe into the the bright orange shoe-box, align tips to the left.",
+    "Slide both the medium-sized black and white shoe into the orange shoe-box with tips pointing left.",
+    "Pick two the synthetic leather shoe, ensure tips facing left, and position in the orange shoe-box.",
+    "Pick up two the shoe with curved sole, tips left, and set them in the medium orange box with smooth surface.",
+    "Pick up two the rubber-soled shoe with lace-up top, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Hold two the dual-tone shoe with sleek design, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Grab a pair of the shoe made of rubber and leather, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Collect two the rubber-soled shoe with lace-up top, tips facing left, and put in the rectangular shoe-box with orange lid.",
+    "Place two the wearable foot protector shoe inside the rectangular orange shoe-box, make tips face left.",
+    "Grab both the wearable foot protector shoe and put them into the medium orange box with smooth surface, tips left.",
+    "Ensure two the average adult-sized shoe are in the bright orange shoe-box, tips facing left.",
+    "Pick up two the dual-tone shoe with sleek design together and place in the orange shoe-box, tips left.",
+    "Use arms to lift two the black shoe with white accents, tips left, and set in the orange Nike shoe-box with logo.",
+    "Handle two the synthetic leather shoe, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Put two the black shoe with white accents in the bright orange shoe-box with tips facing left.",
+    "Retrieve two the dual-tone shoe with sleek design, orienting tips left, and place in the medium-sized box with Nike swoosh.",
+    "Move two the wearable foot protector shoe, tip ends left, and set them in the bright orange shoe-box.",
+    "Arrange the two the black shoe with white accents, tips left, inside the rectangular orange shoe-box.",
+    "Grab two the rubber-soled shoe with lace-up top, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Place two the shoe with smooth top and grippy sole into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Use both arms to set two the shoe made of rubber and leather in the shoe-box with Nike printed logo, tips left.",
+    "Lift and put two the comfortable shoe for walking in the Nike-branded orange shoe-box, tips left.",
+    "Set two the dual-tone shoe with sleek design in the the orange shoe-box, tips pointing left.",
+    "Move two the medium-sized black and white shoe into the bright orange shoe-box, ensure tips point left.",
+    "With both arms, move two the comfortable shoe for walking into the orange shoe-box, tips facing left.",
+    "Put two the comfortable shoe for walking, tips to the left, into the smooth bright orange box.",
+    "Grasp two the synthetic leather shoe, tips aligned left, and place them in the smooth bright orange box.",
+    "Grab both the black shoe with white accents, ensure tips left, place in the smooth bright orange box.",
+    "Put two the black shoe with white accents into the smooth orange box for shoes, shoe tips left.",
+    "Pick up two the medium-sized black and white shoe and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Grab two the shoe with smooth top and grippy sole, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Set two the rubber-soled shoe with lace-up top in the smooth bright orange box with tips left.",
+    "Drop a pair of the black shoe with white accents into the orange Nike shoe-box with logo, tips align left.",
+    "Place two the black shoe with white accents in the rectangular shoe-box with orange lid, tip left when set.",
+    "Stick both the rubber-soled shoe with lace-up top in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Place two the shoe with curved sole tips leftward into the the orange cardboard shoe-box.",
+    "Make sure tips point left, then place the wearable foot protector shoe in the medium orange box with smooth surface.",
+    "Lift two the black and white shoe, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Move a pair of the black shoe with white accents into the orange Nike shoe-box with logo, left tips first.",
+    "Use both arms to place two the dual-tone shoe with sleek design into the smooth bright orange box, tips left.",
+    "Transfer two the comfortable shoe for walking, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Grab and place two the rubber-soled shoe with lace-up top in the smooth orange box for shoes, tips left.",
+    "Position two the synthetic leather shoe into the smooth orange box for shoes, shoe tips leftward.",
+    "Lay down two the black and white shoe in the smooth orange box for shoes, tips oriented left.",
+    "Hold two the shoe made of rubber and leather, tips left, and place in the medium orange box with smooth surface.",
+    "Use hands to grab two the medium-sized black and white shoe, tips left, drop into the orange Nike shoe-box with logo.",
+    "Take two the synthetic leather shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Lift two the medium-sized black and white shoe, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Set two the wearable foot protector shoe into the the bright orange shoe-box, align tips to the left.",
+    "Slide both the shoe with curved sole into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Pick two the shoe with curved sole, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Pick up two the rubber-soled shoe with lace-up top, tips left, and set them in the medium-sized box with Nike swoosh.",
+    "Pick up two the shoe with curved sole, tips left, drop them into the smooth orange box for shoes.",
+    "Hold two the dual-tone shoe with sleek design, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Grab a pair of the medium-sized black and white shoe, tips left, put them into the smooth orange box for shoes.",
+    "Collect two the wearable foot protector shoe, tips facing left, and put in the shoe-box with Nike printed logo.",
+    "Place two the average adult-sized shoe inside the bright orange shoe-box, make tips face left.",
+    "Grab both the average adult-sized shoe and put them into the Nike-branded orange shoe-box, tips left.",
+    "Ensure two the shoe with curved sole are in the medium orange box with smooth surface, tips facing left.",
+    "Pick up two the shoe made of rubber and leather together and place in the bright orange shoe-box, tips left.",
+    "Use arms to lift two the comfortable shoe for walking, tips left, and set in the smooth bright orange box.",
+    "Handle two the medium-sized black and white shoe, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Put two the black and white shoe in the medium-sized box with Nike swoosh with tips facing left.",
+    "Retrieve two the dual-tone shoe with sleek design, orienting tips left, and place in the smooth bright orange box.",
+    "Move two the dual-tone shoe with sleek design, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the orange Nike shoe-box with logo.",
+    "Grab two the dual-tone shoe with sleek design, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Place two the black shoe with white accents into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Use both arms to set two the shoe with smooth top and grippy sole in the medium-sized box with Nike swoosh, tips left.",
+    "Lift and put two the medium-sized black and white shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Set two the dual-tone shoe with sleek design in the the orange shoe-box, tips pointing left.",
+    "Move two the black shoe with white accents into the smooth bright orange box, ensure tips point left.",
+    "With both arms, move two the black shoe with white accents into the Nike-branded orange shoe-box, tips facing left.",
+    "Put two the synthetic leather shoe, tips to the left, into the orange Nike shoe-box with logo.",
+    "Grasp two the average adult-sized shoe, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Grab both the shoe made of rubber and leather, ensure tips left, place in the orange shoe-box.",
+    "Put two the rubber-soled shoe with lace-up top into the smooth bright orange box, shoe tips left."
+  ],
+  "unseen": [
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the black shoe with white midsole into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Place two the black shoe with white midsole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left."
+  ]
+}