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press_stapler/arx-x5_clean_50/scene_info.json

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press_stapler/franka_randomized_500/seed.txt

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press_stapler/ur5_clean_50/scene_info.json

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+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 17,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base1",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 18,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 19,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base1",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 20,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 21,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base3",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 22,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 23,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 24,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base1",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 25,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base3",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 26,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 27,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base3",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 28,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 29,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 30,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base5",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 31,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base1",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 32,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base5",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 33,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 34,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base3",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 35,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 36,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 37,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 38,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 39,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 40,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 41,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 42,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base3",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 43,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 44,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base5",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 45,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 46,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base2",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 47,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base5",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 48,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base6",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 49,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "048_stapler/base4",
+        "{a}": "right"
+      }
+    }
+  ]
+}

press_stapler/ur5_clean_50/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 

press_stapler/ur5_randomized_500/instructions/episode197.json

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

press_stapler/ur5_randomized_500/instructions/episode234.json

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

press_stapler/ur5_randomized_500/instructions/episode27.json

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

press_stapler/ur5_randomized_500/instructions/episode282.json

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

press_stapler/ur5_randomized_500/instructions/episode295.json

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

press_stapler/ur5_randomized_500/instructions/episode367.json

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

press_stapler/ur5_randomized_500/instructions/episode413.json

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

press_stapler/ur5_randomized_500/instructions/episode426.json

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

press_stapler/ur5_randomized_500/instructions/episode446.json

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

press_stapler/ur5_randomized_500/instructions/episode45.json

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

press_stapler/ur5_randomized_500/instructions/episode46.json

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

press_stapler/ur5_randomized_500/instructions/episode469.json

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

press_stapler/ur5_randomized_500/instructions/episode90.json

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

press_stapler/ur5_randomized_500/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 6 7 8 9 10 11 12 13 14 15 16 17 18 21 22 23 24 25 26 27 28 29 30 34 35 36 37 39 40 41 42 43 45 46 47 48 50 51 52 53 54 55 56 57 59 60 62 63 64 65 66 69 70 71 72 73 74 75 77 78 79 81 83 84 85 86 87 88 89 90 91 92 93 94 96 97 98 99 100 102 103 104 105 106 107 109 110 111 112 113 114 115 116 117 119 120 121 122 124 125 126 127 128 130 131 132 135 136 138 139 140 141 142 143 145 146 147 148 149 150 151 152 154 155 156 157 159 160 161 162 163 165 166 167 168 169 170 171 172 173 174 175 177 178 179 180 181 182 183 184 186 187 189 190 191 192 194 197 198 199 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 219 221 222 223 224 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 248 249 250 252 253 254 255 257 258 259 260 261 263 264 265 266 267 268 269 270 272 273 274 275 276 277 278 280 281 283 284 285 286 287 288 289 290 291 292 293 294 295 297 299 302 303 304 305 307 308 309 310 311 312 313 314 315 316 318 319 321 322 324 325 326 327 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 370 371 372 373 374 375 376 377 379 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 403 404 405 406 407 408 409 410 411 412 413 414 415 416 418 419 420 421 423 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 447 448 449 450 451 452 453 454 456 457 458 459 460 461 462 463 465 466 467 468 469 470 472 473 474 475 476 477 478 479 480 481 482 484 485 486 487 488 489 491 492 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 533 535 536 537 538 539 540 541 542 543 544 545 546 547 548 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 567 568 569 570 571 572 573 574