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pick_dual_bottles/arx-x5_randomized_500/instructions/episode14.json

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+{
+  "seen": [
+    "Catch the plastic drink bottle first, then catch the smooth green bottle.",
+    "Use each arm to hold the bottle with ridges on bottom and the handheld green bottle.",
+    "Lift the bottle with white neck and red top and the bottle with white printed label together with both hands.",
+    "Catch the dark drink bottle with logo with one hand, catch the bottle with ridges near base with the other.",
+    "Hold the red-capped bottle and the medium-sized green bottle separately.",
+    "Lift the brown bottle with red label in one hand and the bottle with ridges near base in the other.",
+    "Hold the red-capped bottle and the smooth green bottle using both arms.",
+    "Pick the bottle with white neck and red top with one hand, pick the bottle with ridges near base next.",
+    "Handle the red-capped bottle and the medium-sized green bottle together without arm details.",
+    "Lift bottle the red-capped bottle, then bottle the handheld green bottle.",
+    "Pick the smooth bottle with red lid in one arm and the plastic bottle in the other.",
+    "Grasp the long thin bottle and the bottle with white printed label with both arms.",
+    "Grab the long thin bottle with one arm, the medium green bottle with the other.",
+    "Hold the long thin bottle in one hand, then hold the bottle with narrow top in the other.",
+    "Raise the brown bottle with red label first, then grab the medium green bottle next.",
+    "Handle the bottle with ridges on bottom, then handle the medium green bottle with capped neck without arm specifics.",
+    "Secure the medium dark brown bottle and the bottle with white printed label using separate hands.",
+    "Pick up the brown bottle with red label and the bottle with white printed label together.",
+    "Pick the narrow-necked bottle first and then the medium green bottle.",
+    "Hold the brown bottle with red label and the handheld green bottle, one in each hand.",
+    "Lift the long thin bottle in one arm and the smooth green bottle in the other.",
+    "Grab the bottles the bottle with ridges on bottom and the plastic bottle.",
+    "Grab the medium dark brown bottle first, then grab the bottle with rounded neck second.",
+    "Catch the narrow-necked bottle in one arm, the smooth green bottle in the other.",
+    "Catch the plastic drink bottle, then catch the bottle with rounded neck after.",
+    "Pick up the hand-sized soda bottle and the smooth green bottle using separate hands.",
+    "Hold the smooth bottle with red lid in one hand, the plastic bottle in another.",
+    "Hold the long thin bottle in one hand and the medium green bottle in another.",
+    "Catch the Coca-Cola bottle with one arm, then grab the medium green bottle.",
+    "Use one arm for the bottle with ridges on bottom and the other for the bottle with white printed label.",
+    "Grab the bottle with white neck and red top with one hand, then reach for the medium green bottle.",
+    "Hold onto the medium dark brown bottle and the handheld green bottle using both hands.",
+    "Lift the smooth bottle with red lid with one arm and the medium-sized green bottle with the other.",
+    "Lift the Coca-Cola bottle and the smooth green plastic bottle simultaneously with both arms.",
+    "Secure the dark drink bottle with logo in one hand, the smooth green bottle in other.",
+    "Take the medium dark brown bottle, then use the other arm for the smooth green plastic bottle.",
+    "Grab and lift the plastic drink bottle, then lift the smooth green bottle next.",
+    "Catch the narrow-necked bottle, then catch the bottle with narrow top without mentioning arms.",
+    "Lift both the long thin bottle and the smooth green bottle bottles.",
+    "Use separate arms to pick the Coca-Cola bottle and the bottle with narrow top.",
+    "Take the red-capped bottle with one arm, hold the medium green bottle too.",
+    "Grasp the narrow-necked bottle and the bottle with ridges near base at the same time.",
+    "Use each arm to grab the dark drink bottle with logo and the medium green bottle with capped neck.",
+    "Grab the plastic drink bottle and the medium green bottle with capped neck one by one.",
+    "Grab the red-capped bottle with an arm, grab the bottle with rounded neck next.",
+    "Pick the hand-sized soda bottle first, then pick the medium green bottle without mentioning arms.",
+    "Catch the bottle with ridges on bottom in one hand and the smooth green bottle too.",
+    "Pick the bottle with ridges on bottom with one hand, the green bottle with indented base with another.",
+    "Reach for the medium dark brown bottle, then grab the handheld green bottle.",
+    "Hold the Coca-Cola bottle and the green bottle with indented base using both arms separately.",
+    "Catch the brown bottle with red label first, then catch the plastic bottle.",
+    "Use each arm to hold the red-capped bottle and the handheld green bottle.",
+    "Lift the long thin bottle and the bottle with narrow top together with both hands.",
+    "Catch the bottle with white neck and red top with one hand, catch the bottle with white printed label with the other.",
+    "Hold the brown bottle with red label and the smooth green plastic bottle separately.",
+    "Lift the plastic drink bottle in one hand and the bottle with rounded neck in the other.",
+    "Hold the long thin bottle and the bottle with narrow top using both arms.",
+    "Pick the bottle with ridges on bottom with one hand, pick the bottle with rounded neck next.",
+    "Handle the medium dark brown bottle and the bottle with white printed label together without arm details.",
+    "Lift bottle the dark drink bottle with logo, then bottle the smooth green plastic bottle.",
+    "Pick the red-capped bottle in one arm and the medium green bottle with capped neck in the other.",
+    "Grasp the narrow-necked bottle and the medium-sized green bottle with both arms.",
+    "Grab the smooth bottle with red lid with one arm, the bottle with rounded neck with the other.",
+    "Hold the bottle with ridges on bottom in one hand, then hold the bottle with narrow top in the other.",
+    "Raise the plastic drink bottle first, then grab the handheld green bottle next.",
+    "Handle the narrow-necked bottle, then handle the handheld green bottle without arm specifics.",
+    "Secure the bottle with white neck and red top and the medium green bottle with capped neck using separate hands.",
+    "Pick up the brown bottle with red label and the bottle with white printed label together.",
+    "Pick the brown bottle with red label first and then the handheld green bottle.",
+    "Hold the Coca-Cola bottle and the handheld green bottle, one in each hand.",
+    "Lift the smooth bottle with red lid in one arm and the plastic bottle in the other.",
+    "Grab the bottles the medium dark brown bottle and the bottle with ridges near base.",
+    "Grab the brown bottle with red label first, then grab the medium green bottle second.",
+    "Catch the plastic drink bottle in one arm, the bottle with rounded neck in the other.",
+    "Catch the red-capped bottle, then catch the plastic bottle after.",
+    "Pick up the bottle with white neck and red top and the plastic bottle using separate hands.",
+    "Hold the narrow-necked bottle in one hand, the smooth green bottle in another.",
+    "Hold the long thin bottle in one hand and the medium-sized green bottle in another.",
+    "Catch the smooth bottle with red lid with one arm, then grab the medium-sized green bottle.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green plastic bottle.",
+    "Grab the brown bottle with red label with one hand, then reach for the medium green bottle.",
+    "Hold onto the narrow-necked bottle and the bottle with white printed label using both hands.",
+    "Lift the red-capped bottle with one arm and the bottle with rounded neck with the other.",
+    "Lift the bottle with white neck and red top and the bottle with white printed label simultaneously with both arms.",
+    "Secure the long thin bottle in one hand, the medium green bottle with capped neck in other.",
+    "Take the long thin bottle, then use the other arm for the medium green bottle.",
+    "Grab and lift the red-capped bottle, then lift the medium green bottle next.",
+    "Catch the smooth bottle with red lid, then catch the handheld green bottle without mentioning arms.",
+    "Lift both the narrow-necked bottle and the plastic bottle bottles.",
+    "Use separate arms to pick the long thin bottle and the bottle with narrow top.",
+    "Take the dark drink bottle with logo with one arm, hold the medium green bottle too.",
+    "Grasp the bottle with ridges on bottom and the smooth green bottle at the same time.",
+    "Use each arm to grab the brown bottle with red label and the green bottle with indented base.",
+    "Grab the smooth bottle with red lid and the medium-sized green bottle one by one.",
+    "Grab the Coca-Cola bottle with an arm, grab the bottle with ridges near base next.",
+    "Pick the hand-sized soda bottle first, then pick the smooth green plastic bottle without mentioning arms.",
+    "Catch the brown bottle with red label in one hand and the medium-sized green bottle too.",
+    "Pick the medium dark brown bottle with one hand, the bottle with white printed label with another.",
+    "Reach for the medium dark brown bottle, then grab the plastic bottle.",
+    "Hold the red-capped bottle and the handheld green bottle using both arms separately."
+  ],
+  "unseen": [
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the brown bottle and the green bottle using both arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode143.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hand-sized soda bottle and the bottle with narrow top together.",
+    "Secure the narrow-necked bottle and the bottle with white printed label using separate hands.",
+    "Hold the hand-sized soda bottle and the medium green bottle with capped neck using both arms separately.",
+    "Secure the plastic drink bottle in one hand, the smooth green plastic bottle in other.",
+    "Take the red-capped bottle, then use the other arm for the smooth green bottle.",
+    "Pick the smooth bottle with red lid in one arm and the handheld green bottle in the other.",
+    "Pick the smooth bottle with red lid first, then pick the bottle with white printed label without mentioning arms.",
+    "Catch the hand-sized soda bottle, then catch the medium green bottle with capped neck after.",
+    "Raise the brown bottle with red label first, then grab the handheld green bottle next.",
+    "Grab and lift the dark drink bottle with logo, then lift the smooth green plastic bottle next.",
+    "Lift the dark drink bottle with logo in one arm and the medium green bottle with capped neck in the other.",
+    "Grab the brown bottle with red label with an arm, grab the green bottle with indented base next.",
+    "Catch the narrow-necked bottle in one arm, the smooth green bottle in the other.",
+    "Hold the medium dark brown bottle and the bottle with narrow top, one in each hand.",
+    "Hold the Coca-Cola bottle and the bottle with narrow top separately.",
+    "Lift the bottle with ridges on bottom and the medium green bottle with capped neck together with both hands.",
+    "Handle the long thin bottle, then handle the handheld green bottle without arm specifics.",
+    "Take the bottle with ridges on bottom with one arm, hold the medium green bottle too.",
+    "Hold the bottle with white neck and red top in one hand and the smooth green bottle in another.",
+    "Grab the long thin bottle and the bottle with white printed label one by one.",
+    "Catch the plastic drink bottle first, then catch the bottle with narrow top.",
+    "Catch the bottle with ridges on bottom with one hand, catch the handheld green bottle with the other.",
+    "Use each arm to grab the narrow-necked bottle and the medium green bottle.",
+    "Pick the long thin bottle with one hand, pick the bottle with rounded neck next.",
+    "Reach for the red-capped bottle, then grab the smooth green bottle.",
+    "Catch the plastic drink bottle with one arm, then grab the green bottle with indented base.",
+    "Hold the plastic drink bottle in one hand, then hold the smooth green plastic bottle in the other.",
+    "Grab the narrow-necked bottle first, then grab the bottle with narrow top second.",
+    "Lift both the long thin bottle and the smooth green plastic bottle bottles.",
+    "Grasp the bottle with ridges on bottom and the bottle with ridges near base with both arms.",
+    "Lift the brown bottle with red label in one hand and the smooth green plastic bottle in the other.",
+    "Pick the narrow-necked bottle with one hand, the bottle with white printed label with another.",
+    "Grab the medium dark brown bottle with one arm, the handheld green bottle with the other.",
+    "Lift bottle the bottle with white neck and red top, then bottle the medium green bottle with capped neck.",
+    "Lift the hand-sized soda bottle with one arm and the medium green bottle with the other.",
+    "Hold the medium dark brown bottle in one hand, the bottle with ridges near base in another.",
+    "Grasp the bottle with ridges on bottom and the medium green bottle with capped neck at the same time.",
+    "Hold the hand-sized soda bottle and the medium green bottle with capped neck using both arms.",
+    "Hold onto the red-capped bottle and the green bottle with indented base using both hands.",
+    "Use separate arms to pick the bottle with white neck and red top and the handheld green bottle.",
+    "Lift the smooth bottle with red lid and the smooth green bottle simultaneously with both arms.",
+    "Grab the dark drink bottle with logo with one hand, then reach for the handheld green bottle.",
+    "Catch the Coca-Cola bottle in one hand and the bottle with narrow top too.",
+    "Handle the plastic drink bottle and the medium green bottle together without arm details.",
+    "Pick the narrow-necked bottle first and then the bottle with narrow top.",
+    "Use one arm for the brown bottle with red label and the other for the bottle with ridges near base.",
+    "Grab the bottles the bottle with white neck and red top and the bottle with rounded neck.",
+    "Use each arm to hold the long thin bottle and the bottle with ridges near base.",
+    "Pick up the Coca-Cola bottle and the smooth green plastic bottle using separate hands.",
+    "Catch the bottle with white neck and red top, then catch the medium-sized green bottle without mentioning arms.",
+    "Pick up the brown bottle with red label and the green bottle with indented base together.",
+    "Secure the red-capped bottle and the medium-sized green bottle using separate hands.",
+    "Hold the medium dark brown bottle and the smooth green plastic bottle using both arms separately.",
+    "Secure the narrow-necked bottle in one hand, the plastic bottle in other.",
+    "Take the plastic drink bottle, then use the other arm for the bottle with rounded neck.",
+    "Pick the long thin bottle in one arm and the plastic bottle in the other.",
+    "Pick the narrow-necked bottle first, then pick the medium green bottle with capped neck without mentioning arms.",
+    "Catch the hand-sized soda bottle, then catch the bottle with white printed label after.",
+    "Raise the hand-sized soda bottle first, then grab the plastic bottle next.",
+    "Grab and lift the narrow-necked bottle, then lift the medium-sized green bottle next.",
+    "Lift the red-capped bottle in one arm and the medium green bottle in the other.",
+    "Grab the dark drink bottle with logo with an arm, grab the bottle with ridges near base next.",
+    "Catch the bottle with white neck and red top in one arm, the bottle with rounded neck in the other.",
+    "Hold the long thin bottle and the bottle with white printed label, one in each hand.",
+    "Hold the hand-sized soda bottle and the medium-sized green bottle separately.",
+    "Lift the dark drink bottle with logo and the handheld green bottle together with both hands.",
+    "Handle the long thin bottle, then handle the smooth green bottle without arm specifics.",
+    "Take the red-capped bottle with one arm, hold the bottle with rounded neck too.",
+    "Hold the bottle with ridges on bottom in one hand and the plastic bottle in another.",
+    "Grab the red-capped bottle and the medium green bottle with capped neck one by one.",
+    "Catch the brown bottle with red label first, then catch the handheld green bottle.",
+    "Catch the long thin bottle with one hand, catch the bottle with narrow top with the other.",
+    "Use each arm to grab the brown bottle with red label and the bottle with narrow top.",
+    "Pick the plastic drink bottle with one hand, pick the handheld green bottle next.",
+    "Reach for the brown bottle with red label, then grab the plastic bottle.",
+    "Catch the plastic drink bottle with one arm, then grab the bottle with rounded neck.",
+    "Hold the dark drink bottle with logo in one hand, then hold the smooth green plastic bottle in the other.",
+    "Grab the plastic drink bottle first, then grab the smooth green plastic bottle second.",
+    "Lift both the Coca-Cola bottle and the medium-sized green bottle bottles.",
+    "Grasp the bottle with white neck and red top and the medium green bottle with both arms.",
+    "Lift the narrow-necked bottle in one hand and the bottle with ridges near base in the other.",
+    "Pick the bottle with white neck and red top with one hand, the medium green bottle with another.",
+    "Grab the plastic drink bottle with one arm, the plastic bottle with the other.",
+    "Lift bottle the long thin bottle, then bottle the smooth green bottle.",
+    "Lift the bottle with ridges on bottom with one arm and the medium green bottle with capped neck with the other.",
+    "Hold the narrow-necked bottle in one hand, the bottle with white printed label in another.",
+    "Grasp the smooth bottle with red lid and the green bottle with indented base at the same time.",
+    "Hold the bottle with ridges on bottom and the medium green bottle with capped neck using both arms.",
+    "Hold onto the red-capped bottle and the medium green bottle using both hands.",
+    "Use separate arms to pick the bottle with ridges on bottom and the handheld green bottle.",
+    "Lift the medium dark brown bottle and the handheld green bottle simultaneously with both arms.",
+    "Grab the long thin bottle with one hand, then reach for the bottle with white printed label.",
+    "Catch the bottle with ridges on bottom in one hand and the bottle with ridges near base too.",
+    "Handle the narrow-necked bottle and the medium green bottle with capped neck together without arm details.",
+    "Pick the bottle with white neck and red top first and then the medium green bottle with capped neck.",
+    "Use one arm for the bottle with ridges on bottom and the other for the handheld green bottle.",
+    "Grab the bottles the dark drink bottle with logo and the plastic bottle.",
+    "Use each arm to hold the bottle with white neck and red top and the bottle with ridges near base.",
+    "Pick up the Coca-Cola bottle and the smooth green bottle using separate hands.",
+    "Catch the narrow-necked bottle, then catch the bottle with white printed label without mentioning arms."
+  ],
+  "unseen": [
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Take hold of the brown bottle and the green bottle at once."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode160.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with white neck and red top and the bottle with ridges near base using both arms separately.",
+    "Grab the dark drink bottle with logo with one hand, then reach for the medium-sized green bottle.",
+    "Catch the bottle with white neck and red top with one hand, catch the smooth green bottle with the other.",
+    "Pick the Coca-Cola bottle with one hand, pick the bottle with rounded neck next.",
+    "Hold the hand-sized soda bottle and the smooth green plastic bottle using both arms.",
+    "Lift the long thin bottle and the plastic bottle simultaneously with both arms.",
+    "Grab the red-capped bottle with an arm, grab the bottle with narrow top next.",
+    "Take the bottle with white neck and red top, then use the other arm for the bottle with rounded neck.",
+    "Lift both the plastic drink bottle and the medium green bottle bottles.",
+    "Handle the bottle with ridges on bottom, then handle the handheld green bottle without arm specifics.",
+    "Pick up the smooth bottle with red lid and the bottle with narrow top together.",
+    "Grab the bottle with ridges on bottom and the plastic bottle one by one.",
+    "Grab the brown bottle with red label first, then grab the bottle with narrow top second.",
+    "Take the dark drink bottle with logo with one arm, hold the bottle with white printed label too.",
+    "Catch the bottle with ridges on bottom in one arm, the medium green bottle with capped neck in the other.",
+    "Catch the brown bottle with red label with one arm, then grab the smooth green bottle.",
+    "Lift the smooth bottle with red lid and the plastic bottle together with both hands.",
+    "Hold the narrow-necked bottle in one hand and the bottle with ridges near base in another.",
+    "Pick the bottle with ridges on bottom in one arm and the bottle with narrow top in the other.",
+    "Catch the bottle with white neck and red top first, then catch the medium green bottle.",
+    "Hold the Coca-Cola bottle and the smooth green plastic bottle separately.",
+    "Pick the bottle with white neck and red top first, then pick the medium green bottle with capped neck without mentioning arms.",
+    "Catch the long thin bottle, then catch the bottle with rounded neck after.",
+    "Catch the brown bottle with red label in one hand and the green bottle with indented base too.",
+    "Raise the narrow-necked bottle first, then grab the smooth green plastic bottle next.",
+    "Grab and lift the plastic drink bottle, then lift the medium green bottle next.",
+    "Lift bottle the Coca-Cola bottle, then bottle the handheld green bottle.",
+    "Secure the plastic drink bottle in one hand, the medium green bottle in other.",
+    "Lift the medium dark brown bottle in one hand and the medium-sized green bottle in the other.",
+    "Hold the Coca-Cola bottle in one hand, then hold the bottle with narrow top in the other.",
+    "Pick the Coca-Cola bottle first and then the medium green bottle with capped neck.",
+    "Lift the smooth bottle with red lid with one arm and the bottle with rounded neck with the other.",
+    "Secure the narrow-necked bottle and the bottle with rounded neck using separate hands.",
+    "Grab the bottles the hand-sized soda bottle and the plastic bottle.",
+    "Use one arm for the red-capped bottle and the other for the smooth green bottle.",
+    "Grasp the long thin bottle and the medium-sized green bottle at the same time.",
+    "Hold the brown bottle with red label in one hand, the bottle with ridges near base in another.",
+    "Use each arm to hold the bottle with ridges on bottom and the handheld green bottle.",
+    "Pick the narrow-necked bottle with one hand, the bottle with ridges near base with another.",
+    "Grasp the dark drink bottle with logo and the bottle with white printed label with both arms.",
+    "Catch the smooth bottle with red lid, then catch the smooth green plastic bottle without mentioning arms.",
+    "Use separate arms to pick the bottle with white neck and red top and the smooth green bottle.",
+    "Reach for the smooth bottle with red lid, then grab the bottle with ridges near base.",
+    "Pick up the hand-sized soda bottle and the bottle with white printed label using separate hands.",
+    "Use each arm to grab the red-capped bottle and the medium green bottle.",
+    "Handle the long thin bottle and the medium green bottle together without arm details.",
+    "Grab the bottle with white neck and red top with one arm, the green bottle with indented base with the other.",
+    "Hold onto the bottle with ridges on bottom and the bottle with narrow top using both hands.",
+    "Hold the brown bottle with red label and the medium green bottle, one in each hand.",
+    "Lift the narrow-necked bottle in one arm and the bottle with rounded neck in the other.",
+    "Hold the bottle with ridges on bottom and the bottle with narrow top using both arms separately.",
+    "Grab the medium dark brown bottle with one hand, then reach for the bottle with rounded neck.",
+    "Catch the bottle with white neck and red top with one hand, catch the bottle with narrow top with the other.",
+    "Pick the brown bottle with red label with one hand, pick the bottle with narrow top next.",
+    "Hold the hand-sized soda bottle and the bottle with rounded neck using both arms.",
+    "Lift the hand-sized soda bottle and the medium green bottle simultaneously with both arms.",
+    "Grab the red-capped bottle with an arm, grab the smooth green bottle next.",
+    "Take the long thin bottle, then use the other arm for the smooth green bottle.",
+    "Lift both the long thin bottle and the smooth green plastic bottle bottles.",
+    "Handle the smooth bottle with red lid, then handle the smooth green plastic bottle without arm specifics.",
+    "Pick up the red-capped bottle and the bottle with rounded neck together.",
+    "Grab the long thin bottle and the smooth green bottle one by one.",
+    "Grab the narrow-necked bottle first, then grab the medium green bottle with capped neck second.",
+    "Take the bottle with ridges on bottom with one arm, hold the green bottle with indented base too.",
+    "Catch the red-capped bottle in one arm, the medium green bottle with capped neck in the other.",
+    "Catch the bottle with white neck and red top with one arm, then grab the handheld green bottle.",
+    "Lift the red-capped bottle and the smooth green bottle together with both hands.",
+    "Hold the bottle with white neck and red top in one hand and the bottle with rounded neck in another.",
+    "Pick the hand-sized soda bottle in one arm and the plastic bottle in the other.",
+    "Catch the bottle with ridges on bottom first, then catch the bottle with ridges near base.",
+    "Hold the red-capped bottle and the smooth green bottle separately.",
+    "Pick the hand-sized soda bottle first, then pick the smooth green bottle without mentioning arms.",
+    "Catch the bottle with white neck and red top, then catch the medium-sized green bottle after.",
+    "Catch the red-capped bottle in one hand and the medium-sized green bottle too.",
+    "Raise the long thin bottle first, then grab the bottle with white printed label next.",
+    "Grab and lift the Coca-Cola bottle, then lift the bottle with white printed label next.",
+    "Lift bottle the smooth bottle with red lid, then bottle the medium green bottle with capped neck.",
+    "Secure the dark drink bottle with logo in one hand, the medium green bottle with capped neck in other.",
+    "Lift the Coca-Cola bottle in one hand and the bottle with ridges near base in the other.",
+    "Hold the dark drink bottle with logo in one hand, then hold the smooth green plastic bottle in the other.",
+    "Pick the long thin bottle first and then the medium green bottle with capped neck.",
+    "Lift the red-capped bottle with one arm and the smooth green bottle with the other.",
+    "Secure the smooth bottle with red lid and the medium-sized green bottle using separate hands.",
+    "Grab the bottles the brown bottle with red label and the bottle with narrow top.",
+    "Use one arm for the red-capped bottle and the other for the green bottle with indented base.",
+    "Grasp the narrow-necked bottle and the bottle with narrow top at the same time.",
+    "Hold the long thin bottle in one hand, the bottle with narrow top in another.",
+    "Use each arm to hold the medium dark brown bottle and the handheld green bottle.",
+    "Pick the medium dark brown bottle with one hand, the smooth green bottle with another.",
+    "Grasp the bottle with white neck and red top and the plastic bottle with both arms.",
+    "Catch the narrow-necked bottle, then catch the bottle with rounded neck without mentioning arms.",
+    "Use separate arms to pick the long thin bottle and the bottle with ridges near base.",
+    "Reach for the long thin bottle, then grab the medium green bottle.",
+    "Pick up the smooth bottle with red lid and the bottle with ridges near base using separate hands.",
+    "Use each arm to grab the red-capped bottle and the plastic bottle.",
+    "Handle the bottle with ridges on bottom and the green bottle with indented base together without arm details.",
+    "Grab the bottle with ridges on bottom with one arm, the medium green bottle with the other.",
+    "Hold onto the dark drink bottle with logo and the medium green bottle using both hands.",
+    "Hold the bottle with ridges on bottom and the smooth green bottle, one in each hand.",
+    "Lift the narrow-necked bottle in one arm and the medium green bottle in the other."
+  ],
+  "unseen": [
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode188.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reach for the medium dark brown bottle, then grab the bottle with narrow top.",
+    "Grab the bottles the narrow-necked bottle and the handheld green bottle.",
+    "Pick the red-capped bottle with one hand, pick the plastic bottle next.",
+    "Grasp the long thin bottle and the bottle with ridges near base at the same time.",
+    "Hold the smooth bottle with red lid and the bottle with rounded neck using both arms.",
+    "Grab the bottle with white neck and red top first, then grab the smooth green bottle second.",
+    "Grab the plastic drink bottle and the bottle with narrow top one by one.",
+    "Grab the red-capped bottle with one arm, the bottle with ridges near base with the other.",
+    "Handle the smooth bottle with red lid and the medium green bottle with capped neck together without arm details.",
+    "Pick up the bottle with white neck and red top and the bottle with rounded neck together.",
+    "Lift the plastic drink bottle and the medium-sized green bottle together with both hands.",
+    "Hold the bottle with white neck and red top and the handheld green bottle, one in each hand.",
+    "Hold the narrow-necked bottle in one hand, the smooth green bottle in another.",
+    "Pick up the narrow-necked bottle and the medium green bottle with capped neck using separate hands.",
+    "Pick the dark drink bottle with logo with one hand, the green bottle with indented base with another.",
+    "Grab the red-capped bottle with an arm, grab the handheld green bottle next.",
+    "Pick the medium dark brown bottle first, then pick the bottle with narrow top without mentioning arms.",
+    "Hold the hand-sized soda bottle and the medium-sized green bottle using both arms separately.",
+    "Lift the dark drink bottle with logo in one arm and the medium-sized green bottle in the other.",
+    "Pick the brown bottle with red label in one arm and the bottle with narrow top in the other.",
+    "Secure the narrow-necked bottle in one hand, the medium green bottle with capped neck in other.",
+    "Grab and lift the long thin bottle, then lift the green bottle with indented base next.",
+    "Use each arm to grab the medium dark brown bottle and the smooth green plastic bottle.",
+    "Catch the smooth bottle with red lid first, then catch the medium-sized green bottle.",
+    "Use each arm to hold the plastic drink bottle and the medium-sized green bottle.",
+    "Raise the Coca-Cola bottle first, then grab the bottle with rounded neck next.",
+    "Use separate arms to pick the smooth bottle with red lid and the bottle with ridges near base.",
+    "Hold the dark drink bottle with logo in one hand, then hold the bottle with white printed label in the other.",
+    "Lift the plastic drink bottle and the smooth green bottle simultaneously with both arms.",
+    "Catch the bottle with white neck and red top in one arm, the smooth green plastic bottle in the other.",
+    "Lift the plastic drink bottle in one hand and the bottle with narrow top in the other.",
+    "Take the dark drink bottle with logo, then use the other arm for the smooth green plastic bottle.",
+    "Take the bottle with white neck and red top with one arm, hold the bottle with rounded neck too.",
+    "Hold the long thin bottle and the medium green bottle with capped neck separately.",
+    "Lift both the brown bottle with red label and the bottle with ridges near base bottles.",
+    "Grab the hand-sized soda bottle with one hand, then reach for the bottle with ridges near base.",
+    "Handle the dark drink bottle with logo, then handle the medium green bottle with capped neck without arm specifics.",
+    "Catch the narrow-necked bottle with one arm, then grab the medium green bottle with capped neck.",
+    "Catch the narrow-necked bottle in one hand and the medium-sized green bottle too.",
+    "Catch the smooth bottle with red lid with one hand, catch the bottle with rounded neck with the other.",
+    "Grasp the narrow-necked bottle and the medium-sized green bottle with both arms.",
+    "Secure the hand-sized soda bottle and the medium green bottle using separate hands.",
+    "Lift bottle the long thin bottle, then bottle the smooth green bottle.",
+    "Hold the bottle with white neck and red top in one hand and the smooth green plastic bottle in another.",
+    "Catch the plastic drink bottle, then catch the bottle with white printed label after.",
+    "Lift the plastic drink bottle with one arm and the bottle with rounded neck with the other.",
+    "Use one arm for the medium dark brown bottle and the other for the bottle with narrow top.",
+    "Pick the bottle with ridges on bottom first and then the bottle with white printed label.",
+    "Catch the long thin bottle, then catch the medium green bottle without mentioning arms.",
+    "Hold onto the medium dark brown bottle and the smooth green bottle using both hands.",
+    "Reach for the long thin bottle, then grab the bottle with ridges near base.",
+    "Grab the bottles the red-capped bottle and the bottle with white printed label.",
+    "Pick the red-capped bottle with one hand, pick the medium green bottle with capped neck next.",
+    "Grasp the bottle with white neck and red top and the handheld green bottle at the same time.",
+    "Hold the medium dark brown bottle and the bottle with white printed label using both arms.",
+    "Grab the medium dark brown bottle first, then grab the plastic bottle second.",
+    "Grab the smooth bottle with red lid and the plastic bottle one by one.",
+    "Grab the dark drink bottle with logo with one arm, the bottle with narrow top with the other.",
+    "Handle the smooth bottle with red lid and the medium green bottle together without arm details.",
+    "Pick up the smooth bottle with red lid and the bottle with rounded neck together.",
+    "Lift the smooth bottle with red lid and the smooth green bottle together with both hands.",
+    "Hold the dark drink bottle with logo and the medium green bottle with capped neck, one in each hand.",
+    "Hold the medium dark brown bottle in one hand, the bottle with ridges near base in another.",
+    "Pick up the brown bottle with red label and the medium-sized green bottle using separate hands.",
+    "Pick the dark drink bottle with logo with one hand, the medium green bottle with capped neck with another.",
+    "Grab the medium dark brown bottle with an arm, grab the bottle with narrow top next.",
+    "Pick the bottle with white neck and red top first, then pick the green bottle with indented base without mentioning arms.",
+    "Hold the bottle with white neck and red top and the green bottle with indented base using both arms separately.",
+    "Lift the bottle with ridges on bottom in one arm and the green bottle with indented base in the other.",
+    "Pick the long thin bottle in one arm and the smooth green bottle in the other.",
+    "Secure the bottle with white neck and red top in one hand, the green bottle with indented base in other.",
+    "Grab and lift the Coca-Cola bottle, then lift the plastic bottle next.",
+    "Use each arm to grab the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Catch the medium dark brown bottle first, then catch the bottle with narrow top.",
+    "Use each arm to hold the bottle with ridges on bottom and the green bottle with indented base.",
+    "Raise the brown bottle with red label first, then grab the green bottle with indented base next.",
+    "Use separate arms to pick the bottle with ridges on bottom and the medium green bottle.",
+    "Hold the plastic drink bottle in one hand, then hold the medium green bottle with capped neck in the other.",
+    "Lift the narrow-necked bottle and the bottle with narrow top simultaneously with both arms.",
+    "Catch the red-capped bottle in one arm, the green bottle with indented base in the other.",
+    "Lift the red-capped bottle in one hand and the smooth green plastic bottle in the other.",
+    "Take the brown bottle with red label, then use the other arm for the green bottle with indented base.",
+    "Take the brown bottle with red label with one arm, hold the bottle with narrow top too.",
+    "Hold the medium dark brown bottle and the smooth green plastic bottle separately.",
+    "Lift both the red-capped bottle and the medium green bottle with capped neck bottles.",
+    "Grab the long thin bottle with one hand, then reach for the bottle with narrow top.",
+    "Handle the brown bottle with red label, then handle the handheld green bottle without arm specifics.",
+    "Catch the red-capped bottle with one arm, then grab the smooth green plastic bottle.",
+    "Catch the plastic drink bottle in one hand and the smooth green plastic bottle too.",
+    "Catch the narrow-necked bottle with one hand, catch the bottle with white printed label with the other.",
+    "Grasp the red-capped bottle and the handheld green bottle with both arms.",
+    "Secure the narrow-necked bottle and the medium-sized green bottle using separate hands.",
+    "Lift bottle the bottle with ridges on bottom, then bottle the bottle with narrow top.",
+    "Hold the bottle with ridges on bottom in one hand and the smooth green bottle in another.",
+    "Catch the narrow-necked bottle, then catch the handheld green bottle after.",
+    "Lift the red-capped bottle with one arm and the smooth green bottle with the other.",
+    "Use one arm for the dark drink bottle with logo and the other for the handheld green bottle.",
+    "Pick the medium dark brown bottle first and then the bottle with narrow top.",
+    "Catch the hand-sized soda bottle, then catch the medium-sized green bottle without mentioning arms.",
+    "Hold onto the red-capped bottle and the smooth green bottle using both hands."
+  ],
+  "unseen": [
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode194.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the dark drink bottle with logo with one hand, pick the bottle with white printed label next.",
+    "Use one arm for the brown bottle with red label and the other for the bottle with white printed label.",
+    "Pick the Coca-Cola bottle with one hand, the bottle with rounded neck with another.",
+    "Hold onto the bottle with white neck and red top and the bottle with narrow top using both hands.",
+    "Handle the plastic drink bottle and the green bottle with indented base together without arm details.",
+    "Raise the dark drink bottle with logo first, then grab the bottle with narrow top next.",
+    "Hold the dark drink bottle with logo in one hand and the medium green bottle with capped neck in another.",
+    "Lift the long thin bottle in one hand and the medium green bottle with capped neck in the other.",
+    "Grab the dark drink bottle with logo first, then grab the medium-sized green bottle second.",
+    "Take the bottle with white neck and red top with one arm, hold the medium green bottle too.",
+    "Handle the Coca-Cola bottle, then handle the smooth green bottle without arm specifics.",
+    "Grab the medium dark brown bottle and the bottle with narrow top one by one.",
+    "Lift bottle the long thin bottle, then bottle the smooth green bottle.",
+    "Grab the dark drink bottle with logo with one hand, then reach for the smooth green plastic bottle.",
+    "Pick the long thin bottle in one arm and the handheld green bottle in the other.",
+    "Take the long thin bottle, then use the other arm for the bottle with ridges near base.",
+    "Lift the plastic drink bottle and the handheld green bottle simultaneously with both arms.",
+    "Grab the medium dark brown bottle with an arm, grab the medium green bottle next.",
+    "Pick up the plastic drink bottle and the smooth green plastic bottle using separate hands.",
+    "Use each arm to grab the bottle with white neck and red top and the bottle with ridges near base.",
+    "Secure the bottle with white neck and red top in one hand, the smooth green plastic bottle in other.",
+    "Grab the smooth bottle with red lid with one arm, the medium green bottle with capped neck with the other.",
+    "Hold the plastic drink bottle and the smooth green plastic bottle using both arms.",
+    "Hold the bottle with ridges on bottom and the bottle with ridges near base separately.",
+    "Lift both the dark drink bottle with logo and the handheld green bottle bottles.",
+    "Grasp the brown bottle with red label and the handheld green bottle with both arms.",
+    "Catch the smooth bottle with red lid, then catch the medium green bottle after.",
+    "Catch the bottle with white neck and red top, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Pick the long thin bottle first, then pick the bottle with rounded neck without mentioning arms.",
+    "Lift the red-capped bottle and the medium-sized green bottle together with both hands.",
+    "Pick up the narrow-necked bottle and the bottle with rounded neck together.",
+    "Catch the medium dark brown bottle first, then catch the green bottle with indented base.",
+    "Hold the smooth bottle with red lid and the bottle with narrow top using both arms separately.",
+    "Use each arm to hold the long thin bottle and the bottle with narrow top.",
+    "Pick the long thin bottle first and then the medium-sized green bottle.",
+    "Grasp the medium dark brown bottle and the handheld green bottle at the same time.",
+    "Catch the Coca-Cola bottle in one hand and the plastic bottle too.",
+    "Catch the hand-sized soda bottle in one arm, the medium green bottle in the other.",
+    "Grab and lift the dark drink bottle with logo, then lift the green bottle with indented base next.",
+    "Hold the medium dark brown bottle in one hand, then hold the bottle with white printed label in the other.",
+    "Grab the bottles the hand-sized soda bottle and the smooth green bottle.",
+    "Secure the plastic drink bottle and the plastic bottle using separate hands.",
+    "Lift the brown bottle with red label with one arm and the bottle with narrow top with the other.",
+    "Use separate arms to pick the medium dark brown bottle and the plastic bottle.",
+    "Catch the narrow-necked bottle with one arm, then grab the plastic bottle.",
+    "Hold the bottle with white neck and red top in one hand, the medium-sized green bottle in another.",
+    "Reach for the hand-sized soda bottle, then grab the handheld green bottle.",
+    "Hold the dark drink bottle with logo and the plastic bottle, one in each hand.",
+    "Lift the brown bottle with red label in one arm and the medium green bottle in the other.",
+    "Catch the medium dark brown bottle with one hand, catch the handheld green bottle with the other.",
+    "Pick the smooth bottle with red lid with one hand, pick the bottle with white printed label next.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green bottle.",
+    "Pick the hand-sized soda bottle with one hand, the bottle with rounded neck with another.",
+    "Hold onto the dark drink bottle with logo and the smooth green plastic bottle using both hands.",
+    "Handle the narrow-necked bottle and the smooth green plastic bottle together without arm details.",
+    "Raise the red-capped bottle first, then grab the plastic bottle next.",
+    "Hold the medium dark brown bottle in one hand and the bottle with ridges near base in another.",
+    "Lift the narrow-necked bottle in one hand and the medium green bottle with capped neck in the other.",
+    "Grab the medium dark brown bottle first, then grab the handheld green bottle second.",
+    "Take the plastic drink bottle with one arm, hold the medium green bottle too.",
+    "Handle the bottle with white neck and red top, then handle the bottle with rounded neck without arm specifics.",
+    "Grab the brown bottle with red label and the plastic bottle one by one.",
+    "Lift bottle the dark drink bottle with logo, then bottle the medium-sized green bottle.",
+    "Grab the dark drink bottle with logo with one hand, then reach for the smooth green bottle.",
+    "Pick the red-capped bottle in one arm and the bottle with ridges near base in the other.",
+    "Take the medium dark brown bottle, then use the other arm for the plastic bottle.",
+    "Lift the narrow-necked bottle and the bottle with white printed label simultaneously with both arms.",
+    "Grab the bottle with white neck and red top with an arm, grab the bottle with narrow top next.",
+    "Pick up the Coca-Cola bottle and the handheld green bottle using separate hands.",
+    "Use each arm to grab the plastic drink bottle and the plastic bottle.",
+    "Secure the brown bottle with red label in one hand, the medium-sized green bottle in other.",
+    "Grab the smooth bottle with red lid with one arm, the bottle with ridges near base with the other.",
+    "Hold the smooth bottle with red lid and the smooth green bottle using both arms.",
+    "Hold the smooth bottle with red lid and the bottle with white printed label separately.",
+    "Lift both the plastic drink bottle and the medium-sized green bottle bottles.",
+    "Grasp the brown bottle with red label and the plastic bottle with both arms.",
+    "Catch the long thin bottle, then catch the bottle with ridges near base after.",
+    "Catch the bottle with ridges on bottom, then catch the plastic bottle without mentioning arms.",
+    "Pick the Coca-Cola bottle first, then pick the green bottle with indented base without mentioning arms.",
+    "Lift the smooth bottle with red lid and the medium green bottle together with both hands.",
+    "Pick up the red-capped bottle and the green bottle with indented base together.",
+    "Catch the long thin bottle first, then catch the green bottle with indented base.",
+    "Hold the narrow-necked bottle and the bottle with rounded neck using both arms separately.",
+    "Use each arm to hold the plastic drink bottle and the medium green bottle with capped neck.",
+    "Pick the bottle with white neck and red top first and then the smooth green plastic bottle.",
+    "Grasp the hand-sized soda bottle and the plastic bottle at the same time.",
+    "Catch the hand-sized soda bottle in one hand and the smooth green bottle too.",
+    "Catch the long thin bottle in one arm, the smooth green plastic bottle in the other.",
+    "Grab and lift the hand-sized soda bottle, then lift the bottle with ridges near base next.",
+    "Hold the Coca-Cola bottle in one hand, then hold the plastic bottle in the other.",
+    "Grab the bottles the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Secure the dark drink bottle with logo and the bottle with white printed label using separate hands.",
+    "Lift the bottle with ridges on bottom with one arm and the bottle with white printed label with the other.",
+    "Use separate arms to pick the Coca-Cola bottle and the bottle with white printed label.",
+    "Catch the medium dark brown bottle with one arm, then grab the bottle with rounded neck.",
+    "Hold the smooth bottle with red lid in one hand, the plastic bottle in another.",
+    "Reach for the dark drink bottle with logo, then grab the bottle with narrow top.",
+    "Hold the brown bottle with red label and the green bottle with indented base, one in each hand.",
+    "Lift the brown bottle with red label in one arm and the bottle with white printed label in the other.",
+    "Catch the brown bottle with red label with one hand, catch the medium green bottle with the other."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode203.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown bottle with red label and the plastic bottle simultaneously with both arms.",
+    "Lift both the red-capped bottle and the medium green bottle with capped neck bottles.",
+    "Hold the narrow-necked bottle in one hand, the smooth green plastic bottle in another.",
+    "Handle the hand-sized soda bottle, then handle the plastic bottle without arm specifics.",
+    "Handle the smooth bottle with red lid and the green bottle with indented base together without arm details.",
+    "Catch the hand-sized soda bottle with one hand, catch the bottle with rounded neck with the other.",
+    "Grab the smooth bottle with red lid and the medium green bottle with capped neck one by one.",
+    "Pick the bottle with white neck and red top first and then the bottle with narrow top.",
+    "Secure the bottle with white neck and red top and the medium green bottle with capped neck using separate hands.",
+    "Catch the bottle with white neck and red top, then catch the bottle with ridges near base without mentioning arms.",
+    "Hold the hand-sized soda bottle and the handheld green bottle, one in each hand.",
+    "Use each arm to grab the brown bottle with red label and the handheld green bottle.",
+    "Raise the dark drink bottle with logo first, then grab the medium-sized green bottle next.",
+    "Use separate arms to pick the red-capped bottle and the medium-sized green bottle.",
+    "Grab the bottles the hand-sized soda bottle and the handheld green bottle.",
+    "Hold the smooth bottle with red lid and the bottle with ridges near base using both arms separately.",
+    "Grasp the smooth bottle with red lid and the bottle with narrow top at the same time.",
+    "Secure the narrow-necked bottle in one hand, the medium green bottle with capped neck in other.",
+    "Hold onto the brown bottle with red label and the medium-sized green bottle using both hands.",
+    "Pick up the narrow-necked bottle and the handheld green bottle together.",
+    "Catch the long thin bottle with one arm, then grab the medium-sized green bottle.",
+    "Hold the medium dark brown bottle in one hand, then hold the bottle with rounded neck in the other.",
+    "Lift the smooth bottle with red lid in one hand and the bottle with ridges near base in the other.",
+    "Lift the long thin bottle in one arm and the bottle with white printed label in the other.",
+    "Reach for the plastic drink bottle, then grab the green bottle with indented base.",
+    "Catch the hand-sized soda bottle, then catch the green bottle with indented base after.",
+    "Take the dark drink bottle with logo with one arm, hold the bottle with ridges near base too.",
+    "Grasp the bottle with white neck and red top and the bottle with narrow top with both arms.",
+    "Use one arm for the smooth bottle with red lid and the other for the plastic bottle.",
+    "Grab the narrow-necked bottle with one arm, the bottle with narrow top with the other.",
+    "Lift bottle the plastic drink bottle, then bottle the bottle with rounded neck.",
+    "Catch the bottle with white neck and red top in one hand and the medium green bottle too.",
+    "Hold the dark drink bottle with logo in one hand and the smooth green bottle in another.",
+    "Grab the bottle with ridges on bottom first, then grab the medium green bottle second.",
+    "Pick the dark drink bottle with logo in one arm and the bottle with white printed label in the other.",
+    "Catch the smooth bottle with red lid in one arm, the handheld green bottle in the other.",
+    "Hold the bottle with white neck and red top and the medium green bottle with capped neck separately.",
+    "Use each arm to hold the smooth bottle with red lid and the smooth green bottle.",
+    "Pick up the bottle with white neck and red top and the medium green bottle using separate hands.",
+    "Pick the bottle with white neck and red top with one hand, the bottle with ridges near base with another.",
+    "Pick the smooth bottle with red lid first, then pick the smooth green plastic bottle without mentioning arms.",
+    "Pick the bottle with white neck and red top with one hand, pick the green bottle with indented base next.",
+    "Grab the red-capped bottle with an arm, grab the medium green bottle with capped neck next.",
+    "Hold the brown bottle with red label and the smooth green plastic bottle using both arms.",
+    "Catch the plastic drink bottle first, then catch the plastic bottle.",
+    "Take the bottle with ridges on bottom, then use the other arm for the smooth green bottle.",
+    "Lift the hand-sized soda bottle with one arm and the bottle with ridges near base with the other.",
+    "Lift the Coca-Cola bottle and the green bottle with indented base together with both hands.",
+    "Grab and lift the smooth bottle with red lid, then lift the bottle with narrow top next.",
+    "Grab the plastic drink bottle with one hand, then reach for the green bottle with indented base.",
+    "Lift the dark drink bottle with logo and the medium green bottle simultaneously with both arms.",
+    "Lift both the brown bottle with red label and the medium-sized green bottle bottles.",
+    "Hold the bottle with ridges on bottom in one hand, the bottle with white printed label in another.",
+    "Handle the narrow-necked bottle, then handle the medium green bottle with capped neck without arm specifics.",
+    "Handle the hand-sized soda bottle and the handheld green bottle together without arm details.",
+    "Catch the brown bottle with red label with one hand, catch the bottle with rounded neck with the other.",
+    "Grab the bottle with white neck and red top and the medium green bottle with capped neck one by one.",
+    "Pick the red-capped bottle first and then the medium green bottle with capped neck.",
+    "Secure the long thin bottle and the plastic bottle using separate hands.",
+    "Catch the long thin bottle, then catch the bottle with rounded neck without mentioning arms.",
+    "Hold the bottle with white neck and red top and the plastic bottle, one in each hand.",
+    "Use each arm to grab the bottle with ridges on bottom and the green bottle with indented base.",
+    "Raise the dark drink bottle with logo first, then grab the bottle with rounded neck next.",
+    "Use separate arms to pick the Coca-Cola bottle and the bottle with rounded neck.",
+    "Grab the bottles the smooth bottle with red lid and the smooth green bottle.",
+    "Hold the Coca-Cola bottle and the bottle with narrow top using both arms separately.",
+    "Grasp the narrow-necked bottle and the bottle with narrow top at the same time.",
+    "Secure the plastic drink bottle in one hand, the smooth green bottle in other.",
+    "Hold onto the red-capped bottle and the medium-sized green bottle using both hands.",
+    "Pick up the red-capped bottle and the medium green bottle with capped neck together.",
+    "Catch the Coca-Cola bottle with one arm, then grab the smooth green plastic bottle.",
+    "Hold the plastic drink bottle in one hand, then hold the plastic bottle in the other.",
+    "Lift the hand-sized soda bottle in one hand and the handheld green bottle in the other.",
+    "Lift the long thin bottle in one arm and the medium green bottle in the other.",
+    "Reach for the brown bottle with red label, then grab the medium green bottle with capped neck.",
+    "Catch the bottle with white neck and red top, then catch the bottle with ridges near base after.",
+    "Take the dark drink bottle with logo with one arm, hold the medium-sized green bottle too.",
+    "Grasp the long thin bottle and the bottle with rounded neck with both arms.",
+    "Use one arm for the medium dark brown bottle and the other for the bottle with narrow top.",
+    "Grab the dark drink bottle with logo with one arm, the medium-sized green bottle with the other.",
+    "Lift bottle the smooth bottle with red lid, then bottle the green bottle with indented base.",
+    "Catch the bottle with white neck and red top in one hand and the medium green bottle with capped neck too.",
+    "Hold the brown bottle with red label in one hand and the medium-sized green bottle in another.",
+    "Grab the bottle with ridges on bottom first, then grab the bottle with rounded neck second.",
+    "Pick the Coca-Cola bottle in one arm and the smooth green bottle in the other.",
+    "Catch the bottle with white neck and red top in one arm, the bottle with narrow top in the other.",
+    "Hold the Coca-Cola bottle and the bottle with rounded neck separately.",
+    "Use each arm to hold the plastic drink bottle and the smooth green bottle.",
+    "Pick up the hand-sized soda bottle and the smooth green bottle using separate hands.",
+    "Pick the plastic drink bottle with one hand, the bottle with rounded neck with another.",
+    "Pick the bottle with white neck and red top first, then pick the medium-sized green bottle without mentioning arms.",
+    "Pick the smooth bottle with red lid with one hand, pick the bottle with ridges near base next.",
+    "Grab the plastic drink bottle with an arm, grab the medium-sized green bottle next.",
+    "Hold the brown bottle with red label and the medium green bottle using both arms.",
+    "Catch the smooth bottle with red lid first, then catch the bottle with narrow top.",
+    "Take the narrow-necked bottle, then use the other arm for the plastic bottle.",
+    "Lift the plastic drink bottle with one arm and the bottle with ridges near base with the other.",
+    "Lift the bottle with white neck and red top and the medium green bottle with capped neck together with both hands.",
+    "Grab and lift the Coca-Cola bottle, then lift the smooth green plastic bottle next.",
+    "Grab the long thin bottle with one hand, then reach for the bottle with rounded neck."
+  ],
+  "unseen": [
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode204.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic drink bottle in one arm and the bottle with rounded neck in the other.",
+    "Pick the long thin bottle with one hand, pick the smooth green plastic bottle next.",
+    "Hold the bottle with ridges on bottom and the smooth green plastic bottle, one in each hand.",
+    "Secure the bottle with white neck and red top in one hand, the smooth green plastic bottle in other.",
+    "Grasp the medium dark brown bottle and the medium green bottle with capped neck at the same time.",
+    "Secure the bottle with ridges on bottom and the bottle with white printed label using separate hands.",
+    "Use separate arms to pick the medium dark brown bottle and the medium green bottle.",
+    "Grab the plastic drink bottle with one arm, the smooth green bottle with the other.",
+    "Catch the narrow-necked bottle in one hand and the bottle with white printed label too.",
+    "Grab the brown bottle with red label with one hand, then reach for the bottle with white printed label.",
+    "Lift the smooth bottle with red lid in one hand and the bottle with narrow top in the other.",
+    "Lift bottle the bottle with ridges on bottom, then bottle the bottle with ridges near base.",
+    "Pick the bottle with ridges on bottom first and then the plastic bottle.",
+    "Hold the brown bottle with red label in one hand, then hold the green bottle with indented base in the other.",
+    "Lift the smooth bottle with red lid with one arm and the medium green bottle with the other.",
+    "Raise the hand-sized soda bottle first, then grab the green bottle with indented base next.",
+    "Handle the Coca-Cola bottle, then handle the smooth green bottle without arm specifics.",
+    "Grab the narrow-necked bottle and the bottle with rounded neck one by one.",
+    "Grab the long thin bottle with an arm, grab the bottle with ridges near base next.",
+    "Hold the smooth bottle with red lid in one hand, the medium green bottle in another.",
+    "Grab the bottle with ridges on bottom first, then grab the medium-sized green bottle second.",
+    "Reach for the brown bottle with red label, then grab the smooth green plastic bottle.",
+    "Grab and lift the brown bottle with red label, then lift the medium-sized green bottle next.",
+    "Pick the brown bottle with red label with one hand, the medium green bottle with another.",
+    "Hold the bottle with white neck and red top and the medium green bottle with capped neck using both arms separately.",
+    "Take the medium dark brown bottle with one arm, hold the bottle with rounded neck too.",
+    "Take the brown bottle with red label, then use the other arm for the plastic bottle.",
+    "Lift the smooth bottle with red lid and the bottle with narrow top simultaneously with both arms.",
+    "Pick up the Coca-Cola bottle and the smooth green plastic bottle together.",
+    "Grab the bottles the brown bottle with red label and the bottle with rounded neck.",
+    "Lift both the narrow-necked bottle and the smooth green plastic bottle bottles.",
+    "Use each arm to grab the brown bottle with red label and the smooth green bottle.",
+    "Grasp the bottle with ridges on bottom and the smooth green plastic bottle with both arms.",
+    "Catch the bottle with white neck and red top, then catch the bottle with white printed label without mentioning arms.",
+    "Catch the long thin bottle, then catch the smooth green plastic bottle after.",
+    "Lift the dark drink bottle with logo in one arm and the handheld green bottle in the other.",
+    "Use each arm to hold the hand-sized soda bottle and the plastic bottle.",
+    "Pick up the narrow-necked bottle and the green bottle with indented base using separate hands.",
+    "Hold onto the bottle with white neck and red top and the plastic bottle using both hands.",
+    "Hold the plastic drink bottle in one hand and the bottle with rounded neck in another.",
+    "Catch the smooth bottle with red lid in one arm, the bottle with narrow top in the other.",
+    "Pick the hand-sized soda bottle first, then pick the medium green bottle with capped neck without mentioning arms.",
+    "Hold the red-capped bottle and the bottle with rounded neck separately.",
+    "Catch the medium dark brown bottle with one hand, catch the bottle with white printed label with the other.",
+    "Handle the brown bottle with red label and the bottle with narrow top together without arm details.",
+    "Hold the narrow-necked bottle and the medium green bottle with capped neck using both arms.",
+    "Catch the hand-sized soda bottle with one arm, then grab the handheld green bottle.",
+    "Catch the dark drink bottle with logo first, then catch the handheld green bottle.",
+    "Lift the red-capped bottle and the bottle with narrow top together with both hands.",
+    "Use one arm for the plastic drink bottle and the other for the medium green bottle.",
+    "Pick the brown bottle with red label in one arm and the medium green bottle with capped neck in the other.",
+    "Pick the smooth bottle with red lid with one hand, pick the bottle with ridges near base next.",
+    "Hold the plastic drink bottle and the medium green bottle with capped neck, one in each hand.",
+    "Secure the bottle with white neck and red top in one hand, the smooth green bottle in other.",
+    "Grasp the bottle with white neck and red top and the smooth green plastic bottle at the same time.",
+    "Secure the dark drink bottle with logo and the plastic bottle using separate hands.",
+    "Use separate arms to pick the red-capped bottle and the medium green bottle.",
+    "Grab the smooth bottle with red lid with one arm, the green bottle with indented base with the other.",
+    "Catch the brown bottle with red label in one hand and the medium green bottle too.",
+    "Grab the medium dark brown bottle with one hand, then reach for the smooth green bottle.",
+    "Lift the brown bottle with red label in one hand and the smooth green bottle in the other.",
+    "Lift bottle the Coca-Cola bottle, then bottle the plastic bottle.",
+    "Pick the bottle with ridges on bottom first and then the handheld green bottle.",
+    "Hold the smooth bottle with red lid in one hand, then hold the medium green bottle in the other.",
+    "Lift the dark drink bottle with logo with one arm and the plastic bottle with the other.",
+    "Raise the medium dark brown bottle first, then grab the smooth green bottle next.",
+    "Handle the Coca-Cola bottle, then handle the medium green bottle without arm specifics.",
+    "Grab the bottle with ridges on bottom and the bottle with narrow top one by one.",
+    "Grab the hand-sized soda bottle with an arm, grab the bottle with white printed label next.",
+    "Hold the narrow-necked bottle in one hand, the handheld green bottle in another.",
+    "Grab the bottle with white neck and red top first, then grab the medium green bottle second.",
+    "Reach for the Coca-Cola bottle, then grab the bottle with rounded neck.",
+    "Grab and lift the hand-sized soda bottle, then lift the green bottle with indented base next.",
+    "Pick the medium dark brown bottle with one hand, the bottle with rounded neck with another.",
+    "Hold the bottle with ridges on bottom and the handheld green bottle using both arms separately.",
+    "Take the Coca-Cola bottle with one arm, hold the plastic bottle too.",
+    "Take the long thin bottle, then use the other arm for the smooth green bottle.",
+    "Lift the plastic drink bottle and the handheld green bottle simultaneously with both arms.",
+    "Pick up the plastic drink bottle and the bottle with white printed label together.",
+    "Grab the bottles the medium dark brown bottle and the smooth green plastic bottle.",
+    "Lift both the long thin bottle and the medium-sized green bottle bottles.",
+    "Use each arm to grab the medium dark brown bottle and the medium-sized green bottle.",
+    "Grasp the smooth bottle with red lid and the handheld green bottle with both arms.",
+    "Catch the medium dark brown bottle, then catch the handheld green bottle without mentioning arms.",
+    "Catch the red-capped bottle, then catch the bottle with white printed label after.",
+    "Lift the long thin bottle in one arm and the bottle with rounded neck in the other.",
+    "Use each arm to hold the brown bottle with red label and the green bottle with indented base.",
+    "Pick up the Coca-Cola bottle and the bottle with ridges near base using separate hands.",
+    "Hold onto the plastic drink bottle and the smooth green plastic bottle using both hands.",
+    "Hold the long thin bottle in one hand and the smooth green bottle in another.",
+    "Catch the long thin bottle in one arm, the plastic bottle in the other.",
+    "Pick the long thin bottle first, then pick the bottle with white printed label without mentioning arms.",
+    "Hold the Coca-Cola bottle and the bottle with ridges near base separately.",
+    "Catch the dark drink bottle with logo with one hand, catch the handheld green bottle with the other.",
+    "Handle the narrow-necked bottle and the smooth green plastic bottle together without arm details.",
+    "Hold the plastic drink bottle and the green bottle with indented base using both arms.",
+    "Catch the long thin bottle with one arm, then grab the bottle with narrow top.",
+    "Catch the Coca-Cola bottle first, then catch the handheld green bottle.",
+    "Lift the bottle with white neck and red top and the plastic bottle together with both hands.",
+    "Use one arm for the medium dark brown bottle and the other for the medium green bottle."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode285.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the Coca-Cola bottle first, then catch the handheld green bottle.",
+    "Hold the bottle with white neck and red top and the plastic bottle using both arms separately.",
+    "Hold the smooth bottle with red lid and the medium-sized green bottle using both arms.",
+    "Catch the bottle with white neck and red top, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Use each arm to hold the Coca-Cola bottle and the bottle with rounded neck.",
+    "Catch the Coca-Cola bottle in one hand and the medium green bottle with capped neck too.",
+    "Pick up the Coca-Cola bottle and the green bottle with indented base using separate hands.",
+    "Pick the bottle with ridges on bottom first and then the bottle with white printed label.",
+    "Pick the plastic drink bottle with one hand, the smooth green plastic bottle with another.",
+    "Lift the smooth bottle with red lid in one hand and the green bottle with indented base in the other.",
+    "Raise the bottle with ridges on bottom first, then grab the plastic bottle next.",
+    "Lift bottle the Coca-Cola bottle, then bottle the smooth green bottle.",
+    "Catch the long thin bottle with one hand, catch the green bottle with indented base with the other.",
+    "Catch the smooth bottle with red lid with one arm, then grab the green bottle with indented base.",
+    "Pick the smooth bottle with red lid first, then pick the green bottle with indented base without mentioning arms.",
+    "Lift the red-capped bottle and the green bottle with indented base simultaneously with both arms.",
+    "Reach for the long thin bottle, then grab the medium green bottle.",
+    "Handle the narrow-necked bottle, then handle the medium green bottle with capped neck without arm specifics.",
+    "Hold onto the plastic drink bottle and the bottle with narrow top using both hands.",
+    "Use each arm to grab the narrow-necked bottle and the green bottle with indented base.",
+    "Lift the red-capped bottle with one arm and the plastic bottle with the other.",
+    "Handle the medium dark brown bottle and the medium green bottle together without arm details.",
+    "Grasp the long thin bottle and the green bottle with indented base at the same time.",
+    "Secure the hand-sized soda bottle and the medium green bottle using separate hands.",
+    "Pick up the medium dark brown bottle and the bottle with white printed label together.",
+    "Hold the medium dark brown bottle in one hand, then hold the bottle with rounded neck in the other.",
+    "Hold the narrow-necked bottle in one hand, the medium green bottle with capped neck in another.",
+    "Grab and lift the hand-sized soda bottle, then lift the handheld green bottle next.",
+    "Lift the bottle with ridges on bottom in one arm and the medium-sized green bottle in the other.",
+    "Take the smooth bottle with red lid with one arm, hold the green bottle with indented base too.",
+    "Hold the brown bottle with red label in one hand and the plastic bottle in another.",
+    "Take the medium dark brown bottle, then use the other arm for the bottle with ridges near base.",
+    "Grab the red-capped bottle with an arm, grab the bottle with white printed label next.",
+    "Grab the smooth bottle with red lid with one hand, then reach for the smooth green bottle.",
+    "Pick the long thin bottle with one hand, pick the bottle with white printed label next.",
+    "Pick the brown bottle with red label in one arm and the medium green bottle with capped neck in the other.",
+    "Hold the hand-sized soda bottle and the medium-sized green bottle, one in each hand.",
+    "Secure the plastic drink bottle in one hand, the handheld green bottle in other.",
+    "Grab the smooth bottle with red lid and the plastic bottle one by one.",
+    "Use separate arms to pick the hand-sized soda bottle and the handheld green bottle.",
+    "Grab the bottles the dark drink bottle with logo and the smooth green bottle.",
+    "Catch the dark drink bottle with logo, then catch the bottle with ridges near base after.",
+    "Grab the smooth bottle with red lid first, then grab the bottle with ridges near base second.",
+    "Use one arm for the dark drink bottle with logo and the other for the medium-sized green bottle.",
+    "Grab the bottle with ridges on bottom with one arm, the medium green bottle with capped neck with the other.",
+    "Grasp the long thin bottle and the bottle with ridges near base with both arms.",
+    "Catch the brown bottle with red label in one arm, the bottle with ridges near base in the other.",
+    "Lift both the Coca-Cola bottle and the smooth green plastic bottle bottles.",
+    "Lift the red-capped bottle and the bottle with narrow top together with both hands.",
+    "Hold the long thin bottle and the bottle with ridges near base separately.",
+    "Catch the narrow-necked bottle first, then catch the bottle with ridges near base.",
+    "Hold the medium dark brown bottle and the green bottle with indented base using both arms separately.",
+    "Hold the brown bottle with red label and the bottle with ridges near base using both arms.",
+    "Catch the hand-sized soda bottle, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Use each arm to hold the medium dark brown bottle and the green bottle with indented base.",
+    "Catch the Coca-Cola bottle in one hand and the smooth green bottle too.",
+    "Pick up the dark drink bottle with logo and the smooth green plastic bottle using separate hands.",
+    "Pick the long thin bottle first and then the medium green bottle with capped neck.",
+    "Pick the red-capped bottle with one hand, the medium-sized green bottle with another.",
+    "Lift the red-capped bottle in one hand and the plastic bottle in the other.",
+    "Raise the bottle with ridges on bottom first, then grab the smooth green plastic bottle next.",
+    "Lift bottle the Coca-Cola bottle, then bottle the bottle with narrow top.",
+    "Catch the dark drink bottle with logo with one hand, catch the medium-sized green bottle with the other.",
+    "Catch the bottle with white neck and red top with one arm, then grab the medium green bottle.",
+    "Pick the bottle with ridges on bottom first, then pick the bottle with white printed label without mentioning arms.",
+    "Lift the long thin bottle and the bottle with narrow top simultaneously with both arms.",
+    "Reach for the hand-sized soda bottle, then grab the bottle with ridges near base.",
+    "Handle the smooth bottle with red lid, then handle the bottle with narrow top without arm specifics.",
+    "Hold onto the hand-sized soda bottle and the plastic bottle using both hands.",
+    "Use each arm to grab the medium dark brown bottle and the smooth green bottle.",
+    "Lift the medium dark brown bottle with one arm and the medium green bottle with the other.",
+    "Handle the bottle with white neck and red top and the bottle with ridges near base together without arm details.",
+    "Grasp the brown bottle with red label and the bottle with rounded neck at the same time.",
+    "Secure the narrow-necked bottle and the smooth green bottle using separate hands.",
+    "Pick up the smooth bottle with red lid and the plastic bottle together.",
+    "Hold the brown bottle with red label in one hand, then hold the bottle with rounded neck in the other.",
+    "Hold the Coca-Cola bottle in one hand, the bottle with narrow top in another.",
+    "Grab and lift the Coca-Cola bottle, then lift the bottle with ridges near base next.",
+    "Lift the red-capped bottle in one arm and the smooth green plastic bottle in the other.",
+    "Take the Coca-Cola bottle with one arm, hold the bottle with ridges near base too.",
+    "Hold the brown bottle with red label in one hand and the medium green bottle in another.",
+    "Take the hand-sized soda bottle, then use the other arm for the bottle with rounded neck.",
+    "Grab the bottle with white neck and red top with an arm, grab the bottle with ridges near base next.",
+    "Grab the Coca-Cola bottle with one hand, then reach for the smooth green plastic bottle.",
+    "Pick the bottle with white neck and red top with one hand, pick the bottle with ridges near base next.",
+    "Pick the hand-sized soda bottle in one arm and the medium green bottle in the other.",
+    "Hold the medium dark brown bottle and the bottle with ridges near base, one in each hand.",
+    "Secure the bottle with ridges on bottom in one hand, the smooth green bottle in other.",
+    "Grab the red-capped bottle and the medium green bottle one by one.",
+    "Use separate arms to pick the long thin bottle and the handheld green bottle.",
+    "Grab the bottles the bottle with white neck and red top and the plastic bottle.",
+    "Catch the brown bottle with red label, then catch the medium green bottle with capped neck after.",
+    "Grab the long thin bottle first, then grab the plastic bottle second.",
+    "Use one arm for the hand-sized soda bottle and the other for the smooth green bottle.",
+    "Grab the red-capped bottle with one arm, the bottle with white printed label with the other.",
+    "Grasp the bottle with ridges on bottom and the medium green bottle with capped neck with both arms.",
+    "Catch the brown bottle with red label in one arm, the bottle with narrow top in the other.",
+    "Lift both the hand-sized soda bottle and the medium-sized green bottle bottles.",
+    "Lift the Coca-Cola bottle and the medium-sized green bottle together with both hands.",
+    "Hold the red-capped bottle and the bottle with ridges near base separately."
+  ],
+  "unseen": [
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with white label with arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode324.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth bottle with red lid with one hand, then reach for the bottle with ridges near base.",
+    "Catch the hand-sized soda bottle with one hand, catch the bottle with white printed label with the other.",
+    "Catch the hand-sized soda bottle, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Lift the red-capped bottle in one hand and the smooth green bottle in the other.",
+    "Hold the plastic drink bottle in one hand, then hold the smooth green bottle in the other.",
+    "Hold onto the hand-sized soda bottle and the handheld green bottle using both hands.",
+    "Pick up the Coca-Cola bottle and the bottle with narrow top together.",
+    "Lift the hand-sized soda bottle and the smooth green plastic bottle simultaneously with both arms.",
+    "Catch the bottle with ridges on bottom in one hand and the medium green bottle too.",
+    "Use one arm for the bottle with white neck and red top and the other for the green bottle with indented base.",
+    "Secure the hand-sized soda bottle and the smooth green plastic bottle using separate hands.",
+    "Lift bottle the narrow-necked bottle, then bottle the handheld green bottle.",
+    "Handle the Coca-Cola bottle and the green bottle with indented base together without arm details.",
+    "Raise the bottle with white neck and red top first, then grab the medium-sized green bottle next.",
+    "Grab the bottles the bottle with white neck and red top and the medium-sized green bottle.",
+    "Catch the plastic drink bottle with one arm, then grab the smooth green bottle.",
+    "Pick the dark drink bottle with logo in one arm and the green bottle with indented base in the other.",
+    "Take the Coca-Cola bottle with one arm, hold the handheld green bottle too.",
+    "Hold the bottle with white neck and red top and the bottle with white printed label using both arms.",
+    "Hold the red-capped bottle in one hand, the smooth green bottle in another.",
+    "Reach for the red-capped bottle, then grab the medium green bottle.",
+    "Grab the plastic drink bottle with one arm, the medium green bottle with the other.",
+    "Lift the bottle with ridges on bottom and the bottle with white printed label together with both hands.",
+    "Catch the bottle with white neck and red top, then catch the medium green bottle with capped neck after.",
+    "Grab the smooth bottle with red lid with an arm, grab the smooth green bottle next.",
+    "Pick the hand-sized soda bottle with one hand, the smooth green plastic bottle with another.",
+    "Grab the smooth bottle with red lid first, then grab the smooth green plastic bottle second.",
+    "Grab and lift the dark drink bottle with logo, then lift the plastic bottle next.",
+    "Pick the Coca-Cola bottle with one hand, pick the medium green bottle with capped neck next.",
+    "Catch the smooth bottle with red lid first, then catch the bottle with narrow top.",
+    "Pick the brown bottle with red label first, then pick the bottle with ridges near base without mentioning arms.",
+    "Use each arm to grab the red-capped bottle and the handheld green bottle.",
+    "Lift the medium dark brown bottle in one arm and the green bottle with indented base in the other.",
+    "Hold the bottle with ridges on bottom and the bottle with white printed label, one in each hand.",
+    "Lift the long thin bottle with one arm and the bottle with white printed label with the other.",
+    "Hold the medium dark brown bottle in one hand and the bottle with white printed label in another.",
+    "Use each arm to hold the bottle with ridges on bottom and the plastic bottle.",
+    "Lift both the bottle with white neck and red top and the bottle with white printed label bottles.",
+    "Take the brown bottle with red label, then use the other arm for the medium-sized green bottle.",
+    "Grab the smooth bottle with red lid and the bottle with ridges near base one by one.",
+    "Hold the bottle with ridges on bottom and the smooth green bottle using both arms separately.",
+    "Use separate arms to pick the plastic drink bottle and the smooth green plastic bottle.",
+    "Handle the bottle with ridges on bottom, then handle the bottle with ridges near base without arm specifics.",
+    "Pick up the Coca-Cola bottle and the plastic bottle using separate hands.",
+    "Hold the hand-sized soda bottle and the smooth green bottle separately.",
+    "Grasp the plastic drink bottle and the bottle with narrow top at the same time.",
+    "Catch the bottle with white neck and red top in one arm, the smooth green plastic bottle in the other.",
+    "Secure the hand-sized soda bottle in one hand, the smooth green bottle in other.",
+    "Pick the Coca-Cola bottle first and then the green bottle with indented base.",
+    "Grasp the smooth bottle with red lid and the bottle with rounded neck with both arms.",
+    "Grab the smooth bottle with red lid with one hand, then reach for the smooth green bottle.",
+    "Catch the red-capped bottle with one hand, catch the bottle with narrow top with the other.",
+    "Catch the red-capped bottle, then catch the bottle with white printed label without mentioning arms.",
+    "Lift the medium dark brown bottle in one hand and the smooth green plastic bottle in the other.",
+    "Hold the smooth bottle with red lid in one hand, then hold the handheld green bottle in the other.",
+    "Hold onto the bottle with ridges on bottom and the smooth green plastic bottle using both hands.",
+    "Pick up the narrow-necked bottle and the medium-sized green bottle together.",
+    "Lift the dark drink bottle with logo and the medium-sized green bottle simultaneously with both arms.",
+    "Catch the dark drink bottle with logo in one hand and the smooth green bottle too.",
+    "Use one arm for the Coca-Cola bottle and the other for the bottle with ridges near base.",
+    "Secure the Coca-Cola bottle and the medium-sized green bottle using separate hands.",
+    "Lift bottle the dark drink bottle with logo, then bottle the green bottle with indented base.",
+    "Handle the narrow-necked bottle and the bottle with narrow top together without arm details.",
+    "Raise the Coca-Cola bottle first, then grab the smooth green bottle next.",
+    "Grab the bottles the plastic drink bottle and the green bottle with indented base.",
+    "Catch the Coca-Cola bottle with one arm, then grab the handheld green bottle.",
+    "Pick the plastic drink bottle in one arm and the bottle with white printed label in the other.",
+    "Take the dark drink bottle with logo with one arm, hold the bottle with rounded neck too.",
+    "Hold the smooth bottle with red lid and the medium green bottle with capped neck using both arms.",
+    "Hold the bottle with ridges on bottom in one hand, the medium green bottle with capped neck in another.",
+    "Reach for the Coca-Cola bottle, then grab the plastic bottle.",
+    "Grab the Coca-Cola bottle with one arm, the medium-sized green bottle with the other.",
+    "Lift the dark drink bottle with logo and the green bottle with indented base together with both hands.",
+    "Catch the narrow-necked bottle, then catch the bottle with ridges near base after.",
+    "Grab the narrow-necked bottle with an arm, grab the bottle with rounded neck next.",
+    "Pick the narrow-necked bottle with one hand, the medium-sized green bottle with another.",
+    "Grab the smooth bottle with red lid first, then grab the medium green bottle second.",
+    "Grab and lift the hand-sized soda bottle, then lift the bottle with rounded neck next.",
+    "Pick the smooth bottle with red lid with one hand, pick the bottle with ridges near base next.",
+    "Catch the hand-sized soda bottle first, then catch the smooth green plastic bottle.",
+    "Pick the plastic drink bottle first, then pick the medium-sized green bottle without mentioning arms.",
+    "Use each arm to grab the hand-sized soda bottle and the bottle with white printed label.",
+    "Lift the bottle with white neck and red top in one arm and the plastic bottle in the other.",
+    "Hold the Coca-Cola bottle and the handheld green bottle, one in each hand.",
+    "Lift the narrow-necked bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Hold the narrow-necked bottle in one hand and the smooth green plastic bottle in another.",
+    "Use each arm to hold the bottle with white neck and red top and the smooth green bottle.",
+    "Lift both the long thin bottle and the medium green bottle with capped neck bottles.",
+    "Take the brown bottle with red label, then use the other arm for the bottle with rounded neck.",
+    "Grab the Coca-Cola bottle and the bottle with white printed label one by one.",
+    "Hold the long thin bottle and the medium green bottle using both arms separately.",
+    "Use separate arms to pick the long thin bottle and the plastic bottle.",
+    "Handle the brown bottle with red label, then handle the bottle with ridges near base without arm specifics.",
+    "Pick up the plastic drink bottle and the bottle with narrow top using separate hands.",
+    "Hold the brown bottle with red label and the bottle with ridges near base separately.",
+    "Grasp the plastic drink bottle and the green bottle with indented base at the same time.",
+    "Catch the brown bottle with red label in one arm, the medium green bottle in the other.",
+    "Secure the narrow-necked bottle in one hand, the medium green bottle in other.",
+    "Pick the bottle with ridges on bottom first and then the smooth green bottle.",
+    "Grasp the long thin bottle and the smooth green plastic bottle with both arms."
+  ],
+  "unseen": [
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle using both arms."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode339.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the Coca-Cola bottle and the bottle with ridges near base separately.",
+    "Hold onto the plastic drink bottle and the smooth green bottle using both hands.",
+    "Pick the Coca-Cola bottle first, then pick the medium green bottle without mentioning arms.",
+    "Take the hand-sized soda bottle, then use the other arm for the bottle with ridges near base.",
+    "Pick the narrow-necked bottle in one arm and the bottle with rounded neck in the other.",
+    "Pick up the medium dark brown bottle and the bottle with ridges near base using separate hands.",
+    "Grasp the dark drink bottle with logo and the handheld green bottle with both arms.",
+    "Grab the Coca-Cola bottle with one hand, then reach for the bottle with white printed label.",
+    "Grab the medium dark brown bottle first, then grab the bottle with rounded neck second.",
+    "Hold the red-capped bottle in one hand, then hold the medium-sized green bottle in the other.",
+    "Catch the long thin bottle, then catch the handheld green bottle without mentioning arms.",
+    "Use each arm to hold the brown bottle with red label and the smooth green bottle.",
+    "Catch the bottle with white neck and red top with one arm, then grab the bottle with narrow top.",
+    "Catch the bottle with ridges on bottom in one hand and the bottle with white printed label too.",
+    "Grab and lift the long thin bottle, then lift the medium green bottle with capped neck next.",
+    "Pick up the red-capped bottle and the bottle with rounded neck together.",
+    "Lift the smooth bottle with red lid with one arm and the handheld green bottle with the other.",
+    "Lift the long thin bottle in one hand and the handheld green bottle in the other.",
+    "Use separate arms to pick the plastic drink bottle and the plastic bottle.",
+    "Use each arm to grab the red-capped bottle and the smooth green bottle.",
+    "Hold the Coca-Cola bottle in one hand and the bottle with white printed label in another.",
+    "Hold the bottle with ridges on bottom in one hand, the medium-sized green bottle in another.",
+    "Catch the hand-sized soda bottle, then catch the smooth green bottle after.",
+    "Grasp the medium dark brown bottle and the bottle with white printed label at the same time.",
+    "Secure the plastic drink bottle in one hand, the bottle with white printed label in other.",
+    "Use one arm for the long thin bottle and the other for the medium-sized green bottle.",
+    "Catch the smooth bottle with red lid with one hand, catch the smooth green bottle with the other.",
+    "Lift bottle the red-capped bottle, then bottle the bottle with rounded neck.",
+    "Grab the plastic drink bottle and the green bottle with indented base one by one.",
+    "Hold the bottle with white neck and red top and the smooth green plastic bottle, one in each hand.",
+    "Catch the bottle with ridges on bottom in one arm, the handheld green bottle in the other.",
+    "Grab the bottles the Coca-Cola bottle and the handheld green bottle.",
+    "Handle the Coca-Cola bottle, then handle the bottle with ridges near base without arm specifics.",
+    "Secure the Coca-Cola bottle and the bottle with narrow top using separate hands.",
+    "Take the plastic drink bottle with one arm, hold the bottle with rounded neck too.",
+    "Grab the brown bottle with red label with an arm, grab the handheld green bottle next.",
+    "Lift the hand-sized soda bottle and the smooth green plastic bottle simultaneously with both arms.",
+    "Lift both the narrow-necked bottle and the green bottle with indented base bottles.",
+    "Pick the medium dark brown bottle with one hand, pick the bottle with rounded neck next.",
+    "Catch the long thin bottle first, then catch the bottle with white printed label.",
+    "Reach for the medium dark brown bottle, then grab the smooth green plastic bottle.",
+    "Handle the medium dark brown bottle and the medium green bottle with capped neck together without arm details.",
+    "Grab the brown bottle with red label with one arm, the smooth green plastic bottle with the other.",
+    "Lift the plastic drink bottle and the smooth green plastic bottle together with both hands.",
+    "Raise the bottle with ridges on bottom first, then grab the smooth green bottle next.",
+    "Hold the brown bottle with red label and the medium green bottle with capped neck using both arms separately.",
+    "Pick the smooth bottle with red lid first and then the medium-sized green bottle.",
+    "Pick the narrow-necked bottle with one hand, the bottle with rounded neck with another.",
+    "Hold the hand-sized soda bottle and the smooth green plastic bottle using both arms.",
+    "Lift the red-capped bottle in one arm and the bottle with rounded neck in the other.",
+    "Hold the hand-sized soda bottle and the smooth green bottle separately.",
+    "Hold onto the red-capped bottle and the bottle with ridges near base using both hands.",
+    "Pick the plastic drink bottle first, then pick the green bottle with indented base without mentioning arms.",
+    "Take the long thin bottle, then use the other arm for the bottle with narrow top.",
+    "Pick the bottle with ridges on bottom in one arm and the medium-sized green bottle in the other.",
+    "Pick up the plastic drink bottle and the smooth green bottle using separate hands.",
+    "Grasp the bottle with ridges on bottom and the smooth green plastic bottle with both arms.",
+    "Grab the narrow-necked bottle with one hand, then reach for the handheld green bottle.",
+    "Grab the brown bottle with red label first, then grab the handheld green bottle second.",
+    "Hold the dark drink bottle with logo in one hand, then hold the smooth green bottle in the other.",
+    "Catch the hand-sized soda bottle, then catch the medium-sized green bottle without mentioning arms.",
+    "Use each arm to hold the Coca-Cola bottle and the plastic bottle.",
+    "Catch the smooth bottle with red lid with one arm, then grab the smooth green bottle.",
+    "Catch the Coca-Cola bottle in one hand and the bottle with white printed label too.",
+    "Grab and lift the smooth bottle with red lid, then lift the bottle with white printed label next.",
+    "Pick up the smooth bottle with red lid and the medium-sized green bottle together.",
+    "Lift the long thin bottle with one arm and the plastic bottle with the other.",
+    "Lift the bottle with ridges on bottom in one hand and the bottle with white printed label in the other.",
+    "Use separate arms to pick the dark drink bottle with logo and the green bottle with indented base.",
+    "Use each arm to grab the narrow-necked bottle and the medium-sized green bottle.",
+    "Hold the red-capped bottle in one hand and the medium green bottle in another.",
+    "Hold the hand-sized soda bottle in one hand, the plastic bottle in another.",
+    "Catch the bottle with white neck and red top, then catch the green bottle with indented base after.",
+    "Grasp the plastic drink bottle and the plastic bottle at the same time.",
+    "Secure the narrow-necked bottle in one hand, the bottle with ridges near base in other.",
+    "Use one arm for the bottle with white neck and red top and the other for the bottle with white printed label.",
+    "Catch the dark drink bottle with logo with one hand, catch the plastic bottle with the other.",
+    "Lift bottle the dark drink bottle with logo, then bottle the bottle with ridges near base.",
+    "Grab the dark drink bottle with logo and the medium-sized green bottle one by one.",
+    "Hold the brown bottle with red label and the smooth green plastic bottle, one in each hand.",
+    "Catch the smooth bottle with red lid in one arm, the bottle with rounded neck in the other.",
+    "Grab the bottles the dark drink bottle with logo and the green bottle with indented base.",
+    "Handle the brown bottle with red label, then handle the smooth green plastic bottle without arm specifics.",
+    "Secure the brown bottle with red label and the green bottle with indented base using separate hands.",
+    "Take the long thin bottle with one arm, hold the bottle with rounded neck too.",
+    "Grab the bottle with ridges on bottom with an arm, grab the medium-sized green bottle next.",
+    "Lift the plastic drink bottle and the smooth green bottle simultaneously with both arms.",
+    "Lift both the medium dark brown bottle and the smooth green plastic bottle bottles.",
+    "Pick the dark drink bottle with logo with one hand, pick the medium green bottle with capped neck next.",
+    "Catch the bottle with ridges on bottom first, then catch the medium-sized green bottle.",
+    "Reach for the bottle with white neck and red top, then grab the bottle with white printed label.",
+    "Handle the bottle with white neck and red top and the handheld green bottle together without arm details.",
+    "Grab the brown bottle with red label with one arm, the plastic bottle with the other.",
+    "Lift the Coca-Cola bottle and the smooth green plastic bottle together with both hands.",
+    "Raise the dark drink bottle with logo first, then grab the bottle with white printed label next.",
+    "Hold the smooth bottle with red lid and the medium green bottle with capped neck using both arms separately.",
+    "Pick the red-capped bottle first and then the plastic bottle.",
+    "Pick the medium dark brown bottle with one hand, the smooth green plastic bottle with another.",
+    "Hold the long thin bottle and the smooth green plastic bottle using both arms.",
+    "Lift the bottle with ridges on bottom in one arm and the smooth green bottle in the other."
+  ],
+  "unseen": [
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode379.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with ridges on bottom and the bottle with narrow top using separate hands.",
+    "Hold the dark drink bottle with logo in one hand and the medium-sized green bottle in another.",
+    "Pick up the bottle with ridges on bottom and the bottle with rounded neck together.",
+    "Catch the brown bottle with red label first, then catch the plastic bottle.",
+    "Grab the bottles the Coca-Cola bottle and the medium-sized green bottle.",
+    "Hold onto the narrow-necked bottle and the smooth green bottle using both hands.",
+    "Grasp the narrow-necked bottle and the bottle with rounded neck with both arms.",
+    "Grab the brown bottle with red label with one arm, the medium green bottle with capped neck with the other.",
+    "Secure the plastic drink bottle in one hand, the smooth green bottle in other.",
+    "Catch the brown bottle with red label with one arm, then grab the medium green bottle with capped neck.",
+    "Catch the Coca-Cola bottle, then catch the smooth green plastic bottle after.",
+    "Hold the narrow-necked bottle and the smooth green plastic bottle separately.",
+    "Use each arm to grab the bottle with white neck and red top and the bottle with narrow top.",
+    "Use one arm for the Coca-Cola bottle and the other for the bottle with ridges near base.",
+    "Grab the narrow-necked bottle first, then grab the bottle with narrow top second.",
+    "Take the bottle with ridges on bottom, then use the other arm for the smooth green plastic bottle.",
+    "Grab the plastic drink bottle with an arm, grab the medium-sized green bottle next.",
+    "Pick the medium dark brown bottle with one hand, the bottle with white printed label with another.",
+    "Hold the hand-sized soda bottle in one hand, then hold the bottle with ridges near base in the other.",
+    "Lift the Coca-Cola bottle and the medium green bottle together with both hands.",
+    "Pick the bottle with white neck and red top first and then the bottle with rounded neck.",
+    "Lift the dark drink bottle with logo with one arm and the green bottle with indented base with the other.",
+    "Pick the red-capped bottle in one arm and the bottle with white printed label in the other.",
+    "Take the bottle with ridges on bottom with one arm, hold the green bottle with indented base too.",
+    "Catch the long thin bottle with one hand, catch the smooth green bottle with the other.",
+    "Raise the plastic drink bottle first, then grab the green bottle with indented base next.",
+    "Grasp the brown bottle with red label and the medium green bottle with capped neck at the same time.",
+    "Use each arm to hold the bottle with ridges on bottom and the plastic bottle.",
+    "Pick the dark drink bottle with logo with one hand, pick the smooth green plastic bottle next.",
+    "Hold the brown bottle with red label in one hand, the bottle with ridges near base in another.",
+    "Lift the bottle with ridges on bottom in one hand and the bottle with white printed label in the other.",
+    "Catch the long thin bottle in one hand and the bottle with narrow top too.",
+    "Handle the dark drink bottle with logo, then handle the bottle with narrow top without arm specifics.",
+    "Hold the brown bottle with red label and the medium green bottle with capped neck, one in each hand.",
+    "Grab and lift the dark drink bottle with logo, then lift the green bottle with indented base next.",
+    "Lift bottle the plastic drink bottle, then bottle the bottle with white printed label.",
+    "Catch the brown bottle with red label in one arm, the bottle with narrow top in the other.",
+    "Lift the narrow-necked bottle in one arm and the medium green bottle with capped neck in the other.",
+    "Grab the plastic drink bottle with one hand, then reach for the medium green bottle.",
+    "Lift the plastic drink bottle and the smooth green bottle simultaneously with both arms.",
+    "Catch the dark drink bottle with logo, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Pick the Coca-Cola bottle first, then pick the medium green bottle with capped neck without mentioning arms.",
+    "Use separate arms to pick the brown bottle with red label and the medium green bottle with capped neck.",
+    "Hold the bottle with white neck and red top and the smooth green plastic bottle using both arms.",
+    "Pick up the smooth bottle with red lid and the handheld green bottle using separate hands.",
+    "Hold the Coca-Cola bottle and the handheld green bottle using both arms separately.",
+    "Handle the bottle with ridges on bottom and the smooth green bottle together without arm details.",
+    "Grab the smooth bottle with red lid and the plastic bottle one by one.",
+    "Reach for the bottle with white neck and red top, then grab the medium green bottle.",
+    "Lift both the smooth bottle with red lid and the plastic bottle bottles.",
+    "Secure the hand-sized soda bottle and the bottle with narrow top using separate hands.",
+    "Hold the red-capped bottle in one hand and the medium-sized green bottle in another.",
+    "Pick up the bottle with white neck and red top and the medium-sized green bottle together.",
+    "Catch the brown bottle with red label first, then catch the medium-sized green bottle.",
+    "Grab the bottles the Coca-Cola bottle and the bottle with ridges near base.",
+    "Hold onto the red-capped bottle and the smooth green plastic bottle using both hands.",
+    "Grasp the Coca-Cola bottle and the medium green bottle with both arms.",
+    "Grab the bottle with ridges on bottom with one arm, the bottle with narrow top with the other.",
+    "Secure the narrow-necked bottle in one hand, the plastic bottle in other.",
+    "Catch the red-capped bottle with one arm, then grab the medium green bottle with capped neck.",
+    "Catch the Coca-Cola bottle, then catch the handheld green bottle after.",
+    "Hold the smooth bottle with red lid and the bottle with white printed label separately.",
+    "Use each arm to grab the brown bottle with red label and the bottle with ridges near base.",
+    "Use one arm for the smooth bottle with red lid and the other for the bottle with narrow top.",
+    "Grab the smooth bottle with red lid first, then grab the medium green bottle second.",
+    "Take the medium dark brown bottle, then use the other arm for the bottle with white printed label.",
+    "Grab the red-capped bottle with an arm, grab the smooth green plastic bottle next.",
+    "Pick the smooth bottle with red lid with one hand, the medium green bottle with another.",
+    "Hold the smooth bottle with red lid in one hand, then hold the green bottle with indented base in the other.",
+    "Lift the bottle with white neck and red top and the smooth green plastic bottle together with both hands.",
+    "Pick the medium dark brown bottle first and then the medium green bottle with capped neck.",
+    "Lift the medium dark brown bottle with one arm and the handheld green bottle with the other.",
+    "Pick the medium dark brown bottle in one arm and the handheld green bottle in the other.",
+    "Take the medium dark brown bottle with one arm, hold the bottle with ridges near base too.",
+    "Catch the Coca-Cola bottle with one hand, catch the plastic bottle with the other.",
+    "Raise the plastic drink bottle first, then grab the bottle with white printed label next.",
+    "Grasp the smooth bottle with red lid and the green bottle with indented base at the same time.",
+    "Use each arm to hold the long thin bottle and the medium green bottle with capped neck.",
+    "Pick the hand-sized soda bottle with one hand, pick the green bottle with indented base next.",
+    "Hold the smooth bottle with red lid in one hand, the bottle with ridges near base in another.",
+    "Lift the bottle with ridges on bottom in one hand and the bottle with white printed label in the other.",
+    "Catch the long thin bottle in one hand and the medium-sized green bottle too.",
+    "Handle the Coca-Cola bottle, then handle the bottle with ridges near base without arm specifics.",
+    "Hold the smooth bottle with red lid and the medium green bottle with capped neck, one in each hand.",
+    "Grab and lift the Coca-Cola bottle, then lift the bottle with rounded neck next.",
+    "Lift bottle the red-capped bottle, then bottle the plastic bottle.",
+    "Catch the hand-sized soda bottle in one arm, the bottle with narrow top in the other.",
+    "Lift the narrow-necked bottle in one arm and the medium-sized green bottle in the other.",
+    "Grab the bottle with ridges on bottom with one hand, then reach for the bottle with white printed label.",
+    "Lift the long thin bottle and the plastic bottle simultaneously with both arms.",
+    "Catch the red-capped bottle, then catch the handheld green bottle without mentioning arms.",
+    "Pick the smooth bottle with red lid first, then pick the bottle with narrow top without mentioning arms.",
+    "Use separate arms to pick the long thin bottle and the medium green bottle with capped neck.",
+    "Hold the smooth bottle with red lid and the medium green bottle with capped neck using both arms.",
+    "Pick up the Coca-Cola bottle and the bottle with rounded neck using separate hands.",
+    "Hold the red-capped bottle and the bottle with white printed label using both arms separately.",
+    "Handle the bottle with ridges on bottom and the bottle with rounded neck together without arm details.",
+    "Grab the smooth bottle with red lid and the green bottle with indented base one by one.",
+    "Reach for the bottle with white neck and red top, then grab the bottle with ridges near base.",
+    "Lift both the medium dark brown bottle and the plastic bottle bottles."
+  ],
+  "unseen": [
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode382.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with white neck and red top and the bottle with white printed label simultaneously with both arms.",
+    "Pick the bottle with ridges on bottom with one hand, the bottle with ridges near base with another.",
+    "Take the hand-sized soda bottle, then use the other arm for the green bottle with indented base.",
+    "Catch the red-capped bottle, then catch the handheld green bottle without mentioning arms.",
+    "Hold the bottle with white neck and red top and the handheld green bottle separately.",
+    "Use each arm to hold the narrow-necked bottle and the handheld green bottle.",
+    "Secure the hand-sized soda bottle and the medium green bottle with capped neck using separate hands.",
+    "Catch the long thin bottle with one arm, then grab the medium green bottle.",
+    "Grab the smooth bottle with red lid with an arm, grab the bottle with rounded neck next.",
+    "Handle the smooth bottle with red lid and the smooth green plastic bottle together without arm details.",
+    "Grab the hand-sized soda bottle first, then grab the smooth green bottle second.",
+    "Lift both the smooth bottle with red lid and the smooth green bottle bottles.",
+    "Reach for the dark drink bottle with logo, then grab the medium-sized green bottle.",
+    "Take the smooth bottle with red lid with one arm, hold the bottle with ridges near base too.",
+    "Lift the red-capped bottle in one hand and the medium green bottle in the other.",
+    "Catch the smooth bottle with red lid first, then catch the smooth green plastic bottle.",
+    "Catch the hand-sized soda bottle in one hand and the medium-sized green bottle too.",
+    "Hold the brown bottle with red label and the plastic bottle using both arms.",
+    "Handle the medium dark brown bottle, then handle the smooth green plastic bottle without arm specifics.",
+    "Hold the brown bottle with red label and the plastic bottle, one in each hand.",
+    "Grab the bottle with ridges on bottom with one arm, the medium green bottle with capped neck with the other.",
+    "Grab the bottles the Coca-Cola bottle and the bottle with narrow top.",
+    "Catch the smooth bottle with red lid, then catch the bottle with narrow top after.",
+    "Raise the brown bottle with red label first, then grab the bottle with rounded neck next.",
+    "Hold the plastic drink bottle in one hand, then hold the green bottle with indented base in the other.",
+    "Pick the hand-sized soda bottle first and then the bottle with narrow top.",
+    "Secure the bottle with white neck and red top in one hand, the bottle with rounded neck in other.",
+    "Pick up the brown bottle with red label and the bottle with ridges near base using separate hands.",
+    "Lift the hand-sized soda bottle and the medium green bottle together with both hands.",
+    "Grasp the Coca-Cola bottle and the medium green bottle with capped neck at the same time.",
+    "Pick the smooth bottle with red lid first, then pick the bottle with narrow top without mentioning arms.",
+    "Lift the brown bottle with red label in one arm and the plastic bottle in the other.",
+    "Pick the medium dark brown bottle in one arm and the bottle with ridges near base in the other.",
+    "Grab the plastic drink bottle and the green bottle with indented base one by one.",
+    "Lift the smooth bottle with red lid with one arm and the smooth green bottle with the other.",
+    "Hold the hand-sized soda bottle in one hand and the handheld green bottle in another.",
+    "Pick up the plastic drink bottle and the smooth green bottle together.",
+    "Catch the medium dark brown bottle in one arm, the bottle with white printed label in the other.",
+    "Hold the bottle with white neck and red top and the green bottle with indented base using both arms separately.",
+    "Use each arm to grab the plastic drink bottle and the bottle with ridges near base.",
+    "Lift bottle the smooth bottle with red lid, then bottle the plastic bottle.",
+    "Grasp the red-capped bottle and the bottle with rounded neck with both arms.",
+    "Hold the smooth bottle with red lid in one hand, the smooth green bottle in another.",
+    "Catch the hand-sized soda bottle with one hand, catch the medium green bottle with capped neck with the other.",
+    "Pick the medium dark brown bottle with one hand, pick the smooth green bottle next.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green bottle.",
+    "Use separate arms to pick the plastic drink bottle and the green bottle with indented base.",
+    "Grab the narrow-necked bottle with one hand, then reach for the medium green bottle with capped neck.",
+    "Hold onto the smooth bottle with red lid and the bottle with ridges near base using both hands.",
+    "Grab and lift the smooth bottle with red lid, then lift the smooth green plastic bottle next.",
+    "Lift the smooth bottle with red lid and the medium green bottle simultaneously with both arms.",
+    "Pick the brown bottle with red label with one hand, the bottle with ridges near base with another.",
+    "Take the brown bottle with red label, then use the other arm for the green bottle with indented base.",
+    "Catch the medium dark brown bottle, then catch the medium-sized green bottle without mentioning arms.",
+    "Hold the brown bottle with red label and the handheld green bottle separately.",
+    "Use each arm to hold the narrow-necked bottle and the handheld green bottle.",
+    "Secure the brown bottle with red label and the plastic bottle using separate hands.",
+    "Catch the hand-sized soda bottle with one arm, then grab the bottle with rounded neck.",
+    "Grab the long thin bottle with an arm, grab the smooth green plastic bottle next.",
+    "Handle the Coca-Cola bottle and the smooth green plastic bottle together without arm details.",
+    "Grab the hand-sized soda bottle first, then grab the plastic bottle second.",
+    "Lift both the narrow-necked bottle and the green bottle with indented base bottles.",
+    "Reach for the dark drink bottle with logo, then grab the medium-sized green bottle.",
+    "Take the narrow-necked bottle with one arm, hold the medium green bottle with capped neck too.",
+    "Lift the plastic drink bottle in one hand and the medium-sized green bottle in the other.",
+    "Catch the Coca-Cola bottle first, then catch the bottle with narrow top.",
+    "Catch the Coca-Cola bottle in one hand and the medium green bottle with capped neck too.",
+    "Hold the plastic drink bottle and the bottle with rounded neck using both arms.",
+    "Handle the red-capped bottle, then handle the bottle with ridges near base without arm specifics.",
+    "Hold the plastic drink bottle and the bottle with ridges near base, one in each hand.",
+    "Grab the dark drink bottle with logo with one arm, the green bottle with indented base with the other.",
+    "Grab the bottles the bottle with white neck and red top and the medium green bottle with capped neck.",
+    "Catch the dark drink bottle with logo, then catch the bottle with narrow top after.",
+    "Raise the dark drink bottle with logo first, then grab the plastic bottle next.",
+    "Hold the dark drink bottle with logo in one hand, then hold the medium green bottle in the other.",
+    "Pick the hand-sized soda bottle first and then the bottle with white printed label.",
+    "Secure the brown bottle with red label in one hand, the smooth green bottle in other.",
+    "Pick up the narrow-necked bottle and the bottle with rounded neck using separate hands.",
+    "Lift the smooth bottle with red lid and the medium green bottle with capped neck together with both hands.",
+    "Grasp the red-capped bottle and the smooth green bottle at the same time.",
+    "Pick the Coca-Cola bottle first, then pick the green bottle with indented base without mentioning arms.",
+    "Lift the bottle with ridges on bottom in one arm and the handheld green bottle in the other.",
+    "Pick the red-capped bottle in one arm and the bottle with white printed label in the other.",
+    "Grab the medium dark brown bottle and the green bottle with indented base one by one.",
+    "Lift the medium dark brown bottle with one arm and the green bottle with indented base with the other.",
+    "Hold the plastic drink bottle in one hand and the bottle with narrow top in another.",
+    "Pick up the bottle with ridges on bottom and the bottle with white printed label together.",
+    "Catch the long thin bottle in one arm, the bottle with ridges near base in the other.",
+    "Hold the Coca-Cola bottle and the smooth green bottle using both arms separately.",
+    "Use each arm to grab the long thin bottle and the bottle with narrow top.",
+    "Lift bottle the hand-sized soda bottle, then bottle the medium green bottle.",
+    "Grasp the long thin bottle and the smooth green plastic bottle with both arms.",
+    "Hold the red-capped bottle in one hand, the bottle with ridges near base in another.",
+    "Catch the dark drink bottle with logo with one hand, catch the bottle with white printed label with the other.",
+    "Pick the Coca-Cola bottle with one hand, pick the medium green bottle with capped neck next.",
+    "Use one arm for the narrow-necked bottle and the other for the smooth green plastic bottle.",
+    "Use separate arms to pick the bottle with white neck and red top and the bottle with ridges near base.",
+    "Grab the brown bottle with red label with one hand, then reach for the medium green bottle with capped neck.",
+    "Hold onto the smooth bottle with red lid and the bottle with narrow top using both hands.",
+    "Grab and lift the medium dark brown bottle, then lift the green bottle with indented base next."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green bottle with white label."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode386.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red-capped bottle with one hand, then reach for the bottle with narrow top.",
+    "Lift the narrow-necked bottle and the bottle with white printed label simultaneously with both arms.",
+    "Pick the plastic drink bottle with one hand, the green bottle with indented base with another.",
+    "Handle the medium dark brown bottle and the medium green bottle together without arm details.",
+    "Hold the medium dark brown bottle and the smooth green plastic bottle using both arms.",
+    "Lift the bottle with white neck and red top in one hand and the bottle with ridges near base in the other.",
+    "Hold onto the plastic drink bottle and the medium green bottle with capped neck using both hands.",
+    "Hold the hand-sized soda bottle in one hand, the bottle with narrow top in another.",
+    "Catch the bottle with ridges on bottom in one arm, the handheld green bottle in the other.",
+    "Hold the narrow-necked bottle and the medium green bottle using both arms separately.",
+    "Hold the narrow-necked bottle in one hand and the smooth green plastic bottle in another.",
+    "Lift both the narrow-necked bottle and the bottle with rounded neck bottles.",
+    "Catch the brown bottle with red label with one hand, catch the plastic bottle with the other.",
+    "Lift the Coca-Cola bottle with one arm and the handheld green bottle with the other.",
+    "Grab the bottles the Coca-Cola bottle and the plastic bottle.",
+    "Secure the narrow-necked bottle and the bottle with rounded neck using separate hands.",
+    "Secure the brown bottle with red label in one hand, the bottle with white printed label in other.",
+    "Pick up the medium dark brown bottle and the smooth green bottle using separate hands.",
+    "Lift the hand-sized soda bottle and the bottle with ridges near base together with both hands.",
+    "Take the medium dark brown bottle, then use the other arm for the green bottle with indented base.",
+    "Use one arm for the bottle with ridges on bottom and the other for the bottle with white printed label.",
+    "Grab the brown bottle with red label with an arm, grab the bottle with ridges near base next.",
+    "Pick the red-capped bottle first and then the smooth green bottle.",
+    "Grab the smooth bottle with red lid and the bottle with ridges near base one by one.",
+    "Pick up the bottle with ridges on bottom and the bottle with rounded neck together.",
+    "Pick the red-capped bottle with one hand, pick the plastic bottle next.",
+    "Raise the plastic drink bottle first, then grab the smooth green plastic bottle next.",
+    "Grasp the bottle with white neck and red top and the bottle with narrow top at the same time.",
+    "Handle the brown bottle with red label, then handle the plastic bottle without arm specifics.",
+    "Lift bottle the red-capped bottle, then bottle the smooth green bottle.",
+    "Lift the narrow-necked bottle in one arm and the bottle with rounded neck in the other.",
+    "Grab and lift the bottle with white neck and red top, then lift the smooth green plastic bottle next.",
+    "Pick the red-capped bottle first, then pick the bottle with rounded neck without mentioning arms.",
+    "Catch the long thin bottle first, then catch the green bottle with indented base.",
+    "Use separate arms to pick the bottle with ridges on bottom and the handheld green bottle.",
+    "Catch the dark drink bottle with logo with one arm, then grab the medium-sized green bottle.",
+    "Pick the narrow-necked bottle in one arm and the handheld green bottle in the other.",
+    "Use each arm to grab the bottle with white neck and red top and the medium-sized green bottle.",
+    "Reach for the plastic drink bottle, then grab the green bottle with indented base.",
+    "Grab the medium dark brown bottle with one arm, the green bottle with indented base with the other.",
+    "Hold the Coca-Cola bottle and the medium green bottle with capped neck separately.",
+    "Grab the bottle with white neck and red top first, then grab the bottle with narrow top second.",
+    "Use each arm to hold the medium dark brown bottle and the medium green bottle.",
+    "Grasp the brown bottle with red label and the plastic bottle with both arms.",
+    "Catch the narrow-necked bottle, then catch the handheld green bottle without mentioning arms.",
+    "Catch the red-capped bottle in one hand and the handheld green bottle too.",
+    "Catch the smooth bottle with red lid, then catch the bottle with narrow top after.",
+    "Hold the medium dark brown bottle and the green bottle with indented base, one in each hand.",
+    "Hold the long thin bottle in one hand, then hold the bottle with narrow top in the other.",
+    "Take the narrow-necked bottle with one arm, hold the handheld green bottle too.",
+    "Grab the long thin bottle with one hand, then reach for the bottle with ridges near base.",
+    "Lift the dark drink bottle with logo and the bottle with rounded neck simultaneously with both arms.",
+    "Pick the bottle with ridges on bottom with one hand, the plastic bottle with another.",
+    "Handle the brown bottle with red label and the plastic bottle together without arm details.",
+    "Hold the red-capped bottle and the bottle with white printed label using both arms.",
+    "Lift the plastic drink bottle in one hand and the smooth green bottle in the other.",
+    "Hold onto the hand-sized soda bottle and the handheld green bottle using both hands.",
+    "Hold the smooth bottle with red lid in one hand, the smooth green bottle in another.",
+    "Catch the medium dark brown bottle in one arm, the bottle with ridges near base in the other.",
+    "Hold the plastic drink bottle and the medium-sized green bottle using both arms separately.",
+    "Hold the red-capped bottle in one hand and the medium green bottle in another.",
+    "Lift both the bottle with ridges on bottom and the handheld green bottle bottles.",
+    "Catch the medium dark brown bottle with one hand, catch the smooth green plastic bottle with the other.",
+    "Lift the Coca-Cola bottle with one arm and the bottle with rounded neck with the other.",
+    "Grab the bottles the long thin bottle and the bottle with narrow top.",
+    "Secure the Coca-Cola bottle and the bottle with ridges near base using separate hands.",
+    "Secure the dark drink bottle with logo in one hand, the plastic bottle in other.",
+    "Pick up the brown bottle with red label and the bottle with narrow top using separate hands.",
+    "Lift the Coca-Cola bottle and the handheld green bottle together with both hands.",
+    "Take the bottle with ridges on bottom, then use the other arm for the smooth green bottle.",
+    "Use one arm for the plastic drink bottle and the other for the smooth green bottle.",
+    "Grab the hand-sized soda bottle with an arm, grab the bottle with narrow top next.",
+    "Pick the bottle with white neck and red top first and then the handheld green bottle.",
+    "Grab the dark drink bottle with logo and the bottle with white printed label one by one.",
+    "Pick up the medium dark brown bottle and the plastic bottle together.",
+    "Pick the narrow-necked bottle with one hand, pick the green bottle with indented base next.",
+    "Raise the dark drink bottle with logo first, then grab the medium-sized green bottle next.",
+    "Grasp the brown bottle with red label and the handheld green bottle at the same time.",
+    "Handle the brown bottle with red label, then handle the green bottle with indented base without arm specifics.",
+    "Lift bottle the plastic drink bottle, then bottle the medium-sized green bottle.",
+    "Lift the smooth bottle with red lid in one arm and the bottle with rounded neck in the other.",
+    "Grab and lift the medium dark brown bottle, then lift the green bottle with indented base next.",
+    "Pick the bottle with white neck and red top first, then pick the green bottle with indented base without mentioning arms.",
+    "Catch the long thin bottle first, then catch the smooth green plastic bottle.",
+    "Use separate arms to pick the smooth bottle with red lid and the bottle with rounded neck.",
+    "Catch the Coca-Cola bottle with one arm, then grab the medium green bottle with capped neck.",
+    "Pick the medium dark brown bottle in one arm and the handheld green bottle in the other.",
+    "Use each arm to grab the bottle with ridges on bottom and the smooth green bottle.",
+    "Reach for the medium dark brown bottle, then grab the bottle with white printed label.",
+    "Grab the red-capped bottle with one arm, the smooth green bottle with the other.",
+    "Hold the medium dark brown bottle and the smooth green plastic bottle separately.",
+    "Grab the bottle with white neck and red top first, then grab the bottle with narrow top second.",
+    "Use each arm to hold the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Grasp the medium dark brown bottle and the smooth green plastic bottle with both arms.",
+    "Catch the brown bottle with red label, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Catch the hand-sized soda bottle in one hand and the medium green bottle too.",
+    "Catch the plastic drink bottle, then catch the smooth green bottle after.",
+    "Hold the hand-sized soda bottle and the bottle with rounded neck, one in each hand.",
+    "Hold the hand-sized soda bottle in one hand, then hold the green bottle with indented base in the other.",
+    "Take the smooth bottle with red lid with one arm, hold the medium green bottle too."
+  ],
+  "unseen": [
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode39.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the long thin bottle and the bottle with narrow top using separate hands.",
+    "Grab the smooth bottle with red lid with one arm, the green bottle with indented base with the other.",
+    "Hold onto the hand-sized soda bottle and the smooth green bottle using both hands.",
+    "Secure the medium dark brown bottle in one hand, the smooth green bottle in other.",
+    "Hold the bottle with ridges on bottom in one hand and the bottle with rounded neck in another.",
+    "Lift both the narrow-necked bottle and the bottle with white printed label bottles.",
+    "Pick the hand-sized soda bottle in one arm and the bottle with white printed label in the other.",
+    "Catch the bottle with ridges on bottom in one hand and the bottle with narrow top too.",
+    "Lift bottle the plastic drink bottle, then bottle the smooth green bottle.",
+    "Pick up the medium dark brown bottle and the bottle with white printed label together.",
+    "Pick the long thin bottle with one hand, the medium green bottle with another.",
+    "Hold the red-capped bottle in one hand, the green bottle with indented base in another.",
+    "Hold the bottle with ridges on bottom in one hand, then hold the bottle with rounded neck in the other.",
+    "Grab the hand-sized soda bottle with an arm, grab the smooth green bottle next.",
+    "Catch the narrow-necked bottle in one arm, the medium-sized green bottle in the other.",
+    "Pick the hand-sized soda bottle first, then pick the medium green bottle with capped neck without mentioning arms.",
+    "Raise the red-capped bottle first, then grab the bottle with white printed label next.",
+    "Hold the red-capped bottle and the smooth green bottle using both arms separately.",
+    "Use each arm to grab the bottle with ridges on bottom and the bottle with ridges near base.",
+    "Lift the Coca-Cola bottle with one arm and the bottle with rounded neck with the other.",
+    "Hold the red-capped bottle and the bottle with ridges near base using both arms.",
+    "Catch the brown bottle with red label with one hand, catch the plastic bottle with the other.",
+    "Catch the dark drink bottle with logo, then catch the smooth green plastic bottle after.",
+    "Grasp the hand-sized soda bottle and the bottle with narrow top with both arms.",
+    "Use each arm to hold the long thin bottle and the medium green bottle.",
+    "Hold the dark drink bottle with logo and the bottle with narrow top separately.",
+    "Catch the bottle with white neck and red top, then catch the smooth green bottle without mentioning arms.",
+    "Handle the smooth bottle with red lid and the smooth green bottle together without arm details.",
+    "Catch the dark drink bottle with logo first, then catch the medium green bottle with capped neck.",
+    "Grab the narrow-necked bottle first, then grab the medium green bottle with capped neck second.",
+    "Pick the smooth bottle with red lid first and then the bottle with ridges near base.",
+    "Grab the bottles the narrow-necked bottle and the green bottle with indented base.",
+    "Lift the brown bottle with red label and the medium-sized green bottle together with both hands.",
+    "Lift the plastic drink bottle and the smooth green bottle simultaneously with both arms.",
+    "Grab the hand-sized soda bottle and the plastic bottle one by one.",
+    "Secure the dark drink bottle with logo and the bottle with white printed label using separate hands.",
+    "Take the hand-sized soda bottle with one arm, hold the bottle with white printed label too.",
+    "Grab the plastic drink bottle with one hand, then reach for the smooth green bottle.",
+    "Handle the long thin bottle, then handle the smooth green plastic bottle without arm specifics.",
+    "Use separate arms to pick the dark drink bottle with logo and the medium green bottle.",
+    "Lift the hand-sized soda bottle in one hand and the smooth green plastic bottle in the other.",
+    "Grasp the long thin bottle and the bottle with ridges near base at the same time.",
+    "Lift the bottle with white neck and red top in one arm and the bottle with narrow top in the other.",
+    "Take the plastic drink bottle, then use the other arm for the handheld green bottle.",
+    "Reach for the narrow-necked bottle, then grab the medium-sized green bottle.",
+    "Use one arm for the long thin bottle and the other for the bottle with white printed label.",
+    "Catch the medium dark brown bottle with one arm, then grab the handheld green bottle.",
+    "Pick the Coca-Cola bottle with one hand, pick the medium-sized green bottle next.",
+    "Hold the Coca-Cola bottle and the medium green bottle with capped neck, one in each hand.",
+    "Grab and lift the dark drink bottle with logo, then lift the medium green bottle next.",
+    "Pick up the long thin bottle and the medium-sized green bottle using separate hands.",
+    "Grab the bottle with white neck and red top with one arm, the handheld green bottle with the other.",
+    "Hold onto the smooth bottle with red lid and the handheld green bottle using both hands.",
+    "Secure the plastic drink bottle in one hand, the plastic bottle in other.",
+    "Hold the bottle with white neck and red top in one hand and the medium green bottle with capped neck in another.",
+    "Lift both the hand-sized soda bottle and the medium green bottle with capped neck bottles.",
+    "Pick the smooth bottle with red lid in one arm and the bottle with ridges near base in the other.",
+    "Catch the narrow-necked bottle in one hand and the smooth green plastic bottle too.",
+    "Lift bottle the long thin bottle, then bottle the bottle with white printed label.",
+    "Pick up the bottle with ridges on bottom and the medium green bottle together.",
+    "Pick the Coca-Cola bottle with one hand, the bottle with narrow top with another.",
+    "Hold the smooth bottle with red lid in one hand, the green bottle with indented base in another.",
+    "Hold the smooth bottle with red lid in one hand, then hold the medium-sized green bottle in the other.",
+    "Grab the long thin bottle with an arm, grab the bottle with narrow top next.",
+    "Catch the bottle with white neck and red top in one arm, the smooth green bottle in the other.",
+    "Pick the smooth bottle with red lid first, then pick the medium-sized green bottle without mentioning arms.",
+    "Raise the dark drink bottle with logo first, then grab the handheld green bottle next.",
+    "Hold the long thin bottle and the bottle with ridges near base using both arms separately.",
+    "Use each arm to grab the hand-sized soda bottle and the smooth green plastic bottle.",
+    "Lift the long thin bottle with one arm and the green bottle with indented base with the other.",
+    "Hold the red-capped bottle and the bottle with rounded neck using both arms.",
+    "Catch the smooth bottle with red lid with one hand, catch the bottle with white printed label with the other.",
+    "Catch the hand-sized soda bottle, then catch the medium green bottle after.",
+    "Grasp the Coca-Cola bottle and the bottle with ridges near base with both arms.",
+    "Use each arm to hold the Coca-Cola bottle and the handheld green bottle.",
+    "Hold the medium dark brown bottle and the plastic bottle separately.",
+    "Catch the medium dark brown bottle, then catch the bottle with narrow top without mentioning arms.",
+    "Handle the long thin bottle and the medium-sized green bottle together without arm details.",
+    "Catch the plastic drink bottle first, then catch the green bottle with indented base.",
+    "Grab the dark drink bottle with logo first, then grab the bottle with white printed label second.",
+    "Pick the smooth bottle with red lid first and then the bottle with ridges near base.",
+    "Grab the bottles the smooth bottle with red lid and the medium green bottle with capped neck.",
+    "Lift the bottle with white neck and red top and the plastic bottle together with both hands.",
+    "Lift the plastic drink bottle and the medium green bottle simultaneously with both arms.",
+    "Grab the red-capped bottle and the medium green bottle one by one.",
+    "Secure the bottle with ridges on bottom and the handheld green bottle using separate hands.",
+    "Take the dark drink bottle with logo with one arm, hold the bottle with ridges near base too.",
+    "Grab the long thin bottle with one hand, then reach for the bottle with narrow top.",
+    "Handle the red-capped bottle, then handle the bottle with white printed label without arm specifics.",
+    "Use separate arms to pick the Coca-Cola bottle and the medium green bottle.",
+    "Lift the smooth bottle with red lid in one hand and the bottle with ridges near base in the other.",
+    "Grasp the plastic drink bottle and the plastic bottle at the same time.",
+    "Lift the brown bottle with red label in one arm and the medium-sized green bottle in the other.",
+    "Take the smooth bottle with red lid, then use the other arm for the smooth green plastic bottle.",
+    "Reach for the hand-sized soda bottle, then grab the medium green bottle.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green plastic bottle.",
+    "Catch the narrow-necked bottle with one arm, then grab the medium green bottle.",
+    "Pick the narrow-necked bottle with one hand, pick the green bottle with indented base next.",
+    "Hold the smooth bottle with red lid and the bottle with narrow top, one in each hand.",
+    "Grab and lift the long thin bottle, then lift the medium green bottle with capped neck next."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode403.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the smooth bottle with red lid and the bottle with ridges near base using separate hands.",
+    "Hold the long thin bottle and the medium green bottle separately.",
+    "Handle the plastic drink bottle, then handle the plastic bottle without arm specifics.",
+    "Catch the dark drink bottle with logo with one arm, then grab the handheld green bottle.",
+    "Use each arm to grab the dark drink bottle with logo and the bottle with rounded neck.",
+    "Lift the hand-sized soda bottle in one hand and the smooth green bottle in the other.",
+    "Catch the hand-sized soda bottle with one hand, catch the smooth green bottle with the other.",
+    "Grab the hand-sized soda bottle with one arm, the medium green bottle with capped neck with the other.",
+    "Catch the narrow-necked bottle in one arm, the plastic bottle in the other.",
+    "Hold the smooth bottle with red lid and the medium green bottle, one in each hand.",
+    "Lift the dark drink bottle with logo and the medium green bottle with capped neck together with both hands.",
+    "Pick the medium dark brown bottle in one arm and the bottle with narrow top in the other.",
+    "Handle the narrow-necked bottle and the medium green bottle together without arm details.",
+    "Grasp the bottle with white neck and red top and the handheld green bottle at the same time.",
+    "Grab the plastic drink bottle and the smooth green bottle one by one.",
+    "Use each arm to hold the long thin bottle and the bottle with rounded neck.",
+    "Pick the plastic drink bottle first and then the bottle with rounded neck.",
+    "Grab and lift the plastic drink bottle, then lift the green bottle with indented base next.",
+    "Reach for the bottle with ridges on bottom, then grab the plastic bottle.",
+    "Pick up the narrow-necked bottle and the bottle with narrow top together.",
+    "Lift the bottle with ridges on bottom with one arm and the medium-sized green bottle with the other.",
+    "Raise the bottle with white neck and red top first, then grab the medium green bottle with capped neck next.",
+    "Pick the bottle with white neck and red top first, then pick the bottle with narrow top without mentioning arms.",
+    "Grab the bottles the dark drink bottle with logo and the medium green bottle.",
+    "Lift bottle the plastic drink bottle, then bottle the smooth green bottle.",
+    "Lift the Coca-Cola bottle and the bottle with ridges near base simultaneously with both arms.",
+    "Hold the plastic drink bottle in one hand, the bottle with ridges near base in another.",
+    "Hold the plastic drink bottle in one hand, then hold the green bottle with indented base in the other.",
+    "Lift the dark drink bottle with logo in one arm and the green bottle with indented base in the other.",
+    "Pick the narrow-necked bottle with one hand, pick the medium-sized green bottle next.",
+    "Take the Coca-Cola bottle with one arm, hold the handheld green bottle too.",
+    "Hold the bottle with white neck and red top and the bottle with narrow top using both arms.",
+    "Catch the narrow-necked bottle first, then catch the smooth green plastic bottle.",
+    "Pick the hand-sized soda bottle with one hand, the plastic bottle with another.",
+    "Catch the plastic drink bottle, then catch the medium green bottle without mentioning arms.",
+    "Grab the smooth bottle with red lid with an arm, grab the handheld green bottle next.",
+    "Hold the red-capped bottle and the bottle with rounded neck using both arms separately.",
+    "Grab the bottle with white neck and red top with one hand, then reach for the medium green bottle with capped neck.",
+    "Grab the bottle with ridges on bottom first, then grab the green bottle with indented base second.",
+    "Secure the hand-sized soda bottle in one hand, the medium-sized green bottle in other.",
+    "Use separate arms to pick the dark drink bottle with logo and the bottle with ridges near base.",
+    "Lift both the brown bottle with red label and the medium green bottle bottles.",
+    "Pick up the narrow-necked bottle and the bottle with narrow top using separate hands.",
+    "Use one arm for the smooth bottle with red lid and the other for the smooth green bottle.",
+    "Grasp the red-capped bottle and the bottle with narrow top with both arms.",
+    "Hold onto the smooth bottle with red lid and the medium-sized green bottle using both hands.",
+    "Take the bottle with ridges on bottom, then use the other arm for the smooth green plastic bottle.",
+    "Catch the Coca-Cola bottle in one hand and the bottle with ridges near base too.",
+    "Catch the smooth bottle with red lid, then catch the medium green bottle with capped neck after.",
+    "Hold the hand-sized soda bottle in one hand and the bottle with narrow top in another.",
+    "Secure the bottle with white neck and red top and the handheld green bottle using separate hands.",
+    "Hold the bottle with ridges on bottom and the medium-sized green bottle separately.",
+    "Handle the red-capped bottle, then handle the bottle with rounded neck without arm specifics.",
+    "Catch the red-capped bottle with one arm, then grab the medium green bottle.",
+    "Use each arm to grab the plastic drink bottle and the bottle with narrow top.",
+    "Lift the plastic drink bottle in one hand and the medium-sized green bottle in the other.",
+    "Catch the dark drink bottle with logo with one hand, catch the plastic bottle with the other.",
+    "Grab the brown bottle with red label with one arm, the handheld green bottle with the other.",
+    "Catch the medium dark brown bottle in one arm, the medium-sized green bottle in the other.",
+    "Hold the red-capped bottle and the smooth green plastic bottle, one in each hand.",
+    "Lift the bottle with ridges on bottom and the bottle with ridges near base together with both hands.",
+    "Pick the red-capped bottle in one arm and the bottle with white printed label in the other.",
+    "Handle the long thin bottle and the bottle with rounded neck together without arm details.",
+    "Grasp the medium dark brown bottle and the handheld green bottle at the same time.",
+    "Grab the hand-sized soda bottle and the medium-sized green bottle one by one.",
+    "Use each arm to hold the smooth bottle with red lid and the handheld green bottle.",
+    "Pick the hand-sized soda bottle first and then the medium-sized green bottle.",
+    "Grab and lift the plastic drink bottle, then lift the handheld green bottle next.",
+    "Reach for the hand-sized soda bottle, then grab the bottle with rounded neck.",
+    "Pick up the bottle with white neck and red top and the smooth green bottle together.",
+    "Lift the plastic drink bottle with one arm and the medium green bottle with the other.",
+    "Raise the long thin bottle first, then grab the medium green bottle next.",
+    "Pick the long thin bottle first, then pick the handheld green bottle without mentioning arms.",
+    "Grab the bottles the Coca-Cola bottle and the medium green bottle with capped neck.",
+    "Lift bottle the hand-sized soda bottle, then bottle the bottle with ridges near base.",
+    "Lift the red-capped bottle and the bottle with ridges near base simultaneously with both arms.",
+    "Hold the brown bottle with red label in one hand, the medium green bottle with capped neck in another.",
+    "Hold the brown bottle with red label in one hand, then hold the bottle with ridges near base in the other.",
+    "Lift the long thin bottle in one arm and the bottle with white printed label in the other.",
+    "Pick the medium dark brown bottle with one hand, pick the bottle with rounded neck next.",
+    "Take the bottle with ridges on bottom with one arm, hold the handheld green bottle too.",
+    "Hold the plastic drink bottle and the smooth green plastic bottle using both arms.",
+    "Catch the dark drink bottle with logo first, then catch the bottle with ridges near base.",
+    "Pick the plastic drink bottle with one hand, the handheld green bottle with another.",
+    "Catch the bottle with white neck and red top, then catch the medium-sized green bottle without mentioning arms.",
+    "Grab the brown bottle with red label with an arm, grab the plastic bottle next.",
+    "Hold the red-capped bottle and the medium-sized green bottle using both arms separately.",
+    "Grab the hand-sized soda bottle with one hand, then reach for the bottle with white printed label.",
+    "Grab the hand-sized soda bottle first, then grab the bottle with white printed label second.",
+    "Secure the Coca-Cola bottle in one hand, the medium-sized green bottle in other.",
+    "Use separate arms to pick the dark drink bottle with logo and the bottle with rounded neck.",
+    "Lift both the hand-sized soda bottle and the bottle with ridges near base bottles.",
+    "Pick up the hand-sized soda bottle and the medium-sized green bottle using separate hands.",
+    "Use one arm for the narrow-necked bottle and the other for the medium-sized green bottle.",
+    "Grasp the plastic drink bottle and the bottle with ridges near base with both arms.",
+    "Hold onto the narrow-necked bottle and the smooth green bottle using both hands.",
+    "Take the brown bottle with red label, then use the other arm for the bottle with ridges near base.",
+    "Catch the bottle with ridges on bottom in one hand and the smooth green bottle too.",
+    "Catch the smooth bottle with red lid, then catch the bottle with ridges near base after.",
+    "Hold the bottle with white neck and red top in one hand and the plastic bottle in another."
+  ],
+  "unseen": [
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode423.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm for the long thin bottle and the other for the bottle with rounded neck.",
+    "Grab the plastic drink bottle with one hand, then reach for the green bottle with indented base.",
+    "Hold the Coca-Cola bottle in one hand, the medium green bottle in another.",
+    "Catch the Coca-Cola bottle first, then catch the bottle with narrow top.",
+    "Lift the long thin bottle in one arm and the medium green bottle in the other.",
+    "Use each arm to grab the smooth bottle with red lid and the medium green bottle with capped neck.",
+    "Catch the medium dark brown bottle in one arm, the green bottle with indented base in the other.",
+    "Lift the bottle with ridges on bottom and the bottle with white printed label simultaneously with both arms.",
+    "Hold the plastic drink bottle in one hand and the bottle with rounded neck in another.",
+    "Catch the hand-sized soda bottle with one arm, then grab the bottle with white printed label.",
+    "Pick the narrow-necked bottle with one hand, the handheld green bottle with another.",
+    "Lift bottle the plastic drink bottle, then bottle the handheld green bottle.",
+    "Catch the bottle with ridges on bottom with one hand, catch the plastic bottle with the other.",
+    "Grab the hand-sized soda bottle first, then grab the medium green bottle second.",
+    "Grab the bottles the dark drink bottle with logo and the medium green bottle with capped neck.",
+    "Secure the Coca-Cola bottle and the bottle with white printed label using separate hands.",
+    "Pick the bottle with white neck and red top in one arm and the bottle with ridges near base in the other.",
+    "Catch the bottle with ridges on bottom, then catch the smooth green plastic bottle after.",
+    "Handle the bottle with white neck and red top, then handle the bottle with ridges near base without arm specifics.",
+    "Take the long thin bottle, then use the other arm for the medium green bottle with capped neck.",
+    "Grasp the long thin bottle and the bottle with narrow top at the same time.",
+    "Use each arm to hold the brown bottle with red label and the bottle with white printed label.",
+    "Lift the bottle with white neck and red top and the medium-sized green bottle together with both hands.",
+    "Use separate arms to pick the brown bottle with red label and the smooth green plastic bottle.",
+    "Lift both the Coca-Cola bottle and the bottle with narrow top bottles.",
+    "Grab the smooth bottle with red lid and the bottle with white printed label one by one.",
+    "Pick up the narrow-necked bottle and the bottle with narrow top together.",
+    "Pick the narrow-necked bottle first, then pick the bottle with rounded neck without mentioning arms.",
+    "Catch the dark drink bottle with logo in one hand and the medium green bottle with capped neck too.",
+    "Grasp the narrow-necked bottle and the bottle with white printed label with both arms.",
+    "Grab the bottle with ridges on bottom with one arm, the smooth green bottle with the other.",
+    "Pick up the bottle with ridges on bottom and the medium green bottle with capped neck using separate hands.",
+    "Hold onto the red-capped bottle and the handheld green bottle using both hands.",
+    "Lift the red-capped bottle with one arm and the handheld green bottle with the other.",
+    "Handle the brown bottle with red label and the handheld green bottle together without arm details.",
+    "Pick the bottle with white neck and red top with one hand, pick the handheld green bottle next.",
+    "Hold the bottle with ridges on bottom and the handheld green bottle, one in each hand.",
+    "Hold the dark drink bottle with logo and the medium green bottle using both arms separately.",
+    "Catch the red-capped bottle, then catch the green bottle with indented base without mentioning arms.",
+    "Hold the narrow-necked bottle and the medium green bottle with capped neck separately.",
+    "Lift the bottle with white neck and red top in one hand and the smooth green bottle in the other.",
+    "Raise the bottle with ridges on bottom first, then grab the medium green bottle next.",
+    "Pick the plastic drink bottle first and then the smooth green plastic bottle.",
+    "Take the red-capped bottle with one arm, hold the smooth green plastic bottle too.",
+    "Grab and lift the smooth bottle with red lid, then lift the bottle with narrow top next.",
+    "Reach for the medium dark brown bottle, then grab the bottle with rounded neck.",
+    "Hold the medium dark brown bottle in one hand, then hold the plastic bottle in the other.",
+    "Hold the narrow-necked bottle and the bottle with rounded neck using both arms.",
+    "Secure the red-capped bottle in one hand, the bottle with white printed label in other.",
+    "Grab the bottle with white neck and red top with an arm, grab the bottle with rounded neck next.",
+    "Use one arm for the medium dark brown bottle and the other for the plastic bottle.",
+    "Grab the brown bottle with red label with one hand, then reach for the handheld green bottle.",
+    "Hold the bottle with ridges on bottom in one hand, the bottle with narrow top in another.",
+    "Catch the long thin bottle first, then catch the green bottle with indented base.",
+    "Lift the long thin bottle in one arm and the bottle with ridges near base in the other.",
+    "Use each arm to grab the red-capped bottle and the smooth green plastic bottle.",
+    "Catch the smooth bottle with red lid in one arm, the handheld green bottle in the other.",
+    "Lift the bottle with white neck and red top and the handheld green bottle simultaneously with both arms.",
+    "Hold the bottle with ridges on bottom in one hand and the smooth green plastic bottle in another.",
+    "Catch the bottle with white neck and red top with one arm, then grab the bottle with narrow top.",
+    "Pick the hand-sized soda bottle with one hand, the plastic bottle with another.",
+    "Lift bottle the bottle with ridges on bottom, then bottle the handheld green bottle.",
+    "Catch the medium dark brown bottle with one hand, catch the bottle with white printed label with the other.",
+    "Grab the smooth bottle with red lid first, then grab the bottle with ridges near base second.",
+    "Grab the bottles the brown bottle with red label and the green bottle with indented base.",
+    "Secure the bottle with white neck and red top and the smooth green bottle using separate hands.",
+    "Pick the Coca-Cola bottle in one arm and the plastic bottle in the other.",
+    "Catch the dark drink bottle with logo, then catch the smooth green plastic bottle after.",
+    "Handle the medium dark brown bottle, then handle the medium-sized green bottle without arm specifics.",
+    "Take the long thin bottle, then use the other arm for the smooth green bottle.",
+    "Grasp the hand-sized soda bottle and the bottle with rounded neck at the same time.",
+    "Use each arm to hold the bottle with white neck and red top and the medium green bottle with capped neck.",
+    "Lift the long thin bottle and the smooth green bottle together with both hands.",
+    "Use separate arms to pick the Coca-Cola bottle and the bottle with narrow top.",
+    "Lift both the Coca-Cola bottle and the plastic bottle bottles.",
+    "Grab the brown bottle with red label and the smooth green plastic bottle one by one.",
+    "Pick up the bottle with ridges on bottom and the bottle with white printed label together.",
+    "Pick the smooth bottle with red lid first, then pick the bottle with ridges near base without mentioning arms.",
+    "Catch the brown bottle with red label in one hand and the smooth green plastic bottle too.",
+    "Grasp the brown bottle with red label and the bottle with narrow top with both arms.",
+    "Grab the medium dark brown bottle with one arm, the bottle with white printed label with the other.",
+    "Pick up the medium dark brown bottle and the bottle with rounded neck using separate hands.",
+    "Hold onto the medium dark brown bottle and the plastic bottle using both hands.",
+    "Lift the medium dark brown bottle with one arm and the medium green bottle with capped neck with the other.",
+    "Handle the medium dark brown bottle and the bottle with narrow top together without arm details.",
+    "Pick the plastic drink bottle with one hand, pick the medium-sized green bottle next.",
+    "Hold the brown bottle with red label and the medium-sized green bottle, one in each hand.",
+    "Hold the plastic drink bottle and the bottle with white printed label using both arms separately.",
+    "Catch the smooth bottle with red lid, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Hold the plastic drink bottle and the medium green bottle with capped neck separately.",
+    "Lift the hand-sized soda bottle in one hand and the green bottle with indented base in the other.",
+    "Raise the long thin bottle first, then grab the bottle with narrow top next.",
+    "Pick the bottle with white neck and red top first and then the bottle with ridges near base.",
+    "Take the hand-sized soda bottle with one arm, hold the green bottle with indented base too.",
+    "Grab and lift the hand-sized soda bottle, then lift the bottle with ridges near base next.",
+    "Reach for the plastic drink bottle, then grab the medium green bottle with capped neck.",
+    "Hold the red-capped bottle in one hand, then hold the bottle with rounded neck in the other.",
+    "Hold the red-capped bottle and the smooth green bottle using both arms.",
+    "Secure the dark drink bottle with logo in one hand, the handheld green bottle in other.",
+    "Grab the medium dark brown bottle with an arm, grab the green bottle with indented base next."
+  ],
+  "unseen": [
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Lift the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode439.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium dark brown bottle in one hand, then hold the bottle with narrow top in the other.",
+    "Hold the Coca-Cola bottle and the handheld green bottle, one in each hand.",
+    "Catch the narrow-necked bottle with one hand, catch the medium-sized green bottle with the other.",
+    "Handle the red-capped bottle and the smooth green plastic bottle together without arm details.",
+    "Catch the smooth bottle with red lid first, then catch the medium green bottle with capped neck.",
+    "Use one arm for the plastic drink bottle and the other for the smooth green bottle.",
+    "Lift the narrow-necked bottle in one hand and the bottle with ridges near base in the other.",
+    "Pick the brown bottle with red label first and then the bottle with narrow top.",
+    "Grab the smooth bottle with red lid with an arm, grab the medium green bottle next.",
+    "Pick the Coca-Cola bottle first, then pick the smooth green bottle without mentioning arms.",
+    "Grab the medium dark brown bottle with one arm, the green bottle with indented base with the other.",
+    "Hold the medium dark brown bottle and the medium green bottle using both arms separately.",
+    "Use each arm to hold the hand-sized soda bottle and the handheld green bottle.",
+    "Grasp the Coca-Cola bottle and the bottle with white printed label with both arms.",
+    "Reach for the smooth bottle with red lid, then grab the medium green bottle with capped neck.",
+    "Lift the long thin bottle with one arm and the bottle with ridges near base with the other.",
+    "Grab the brown bottle with red label first, then grab the medium green bottle with capped neck second.",
+    "Catch the brown bottle with red label in one hand and the smooth green plastic bottle too.",
+    "Raise the plastic drink bottle first, then grab the medium green bottle next.",
+    "Grab the brown bottle with red label and the medium green bottle one by one.",
+    "Use each arm to grab the medium dark brown bottle and the green bottle with indented base.",
+    "Hold the hand-sized soda bottle and the bottle with white printed label separately.",
+    "Pick the bottle with white neck and red top with one hand, the medium green bottle with another.",
+    "Secure the narrow-necked bottle in one hand, the smooth green bottle in other.",
+    "Grasp the red-capped bottle and the handheld green bottle at the same time.",
+    "Grab the plastic drink bottle with one hand, then reach for the medium green bottle.",
+    "Catch the long thin bottle with one arm, then grab the green bottle with indented base.",
+    "Lift the narrow-necked bottle and the bottle with rounded neck simultaneously with both arms.",
+    "Take the bottle with ridges on bottom with one arm, hold the smooth green plastic bottle too.",
+    "Catch the plastic drink bottle, then catch the medium green bottle with capped neck without mentioning arms.",
+    "Lift the long thin bottle and the medium green bottle together with both hands.",
+    "Lift bottle the bottle with ridges on bottom, then bottle the green bottle with indented base.",
+    "Pick the dark drink bottle with logo in one arm and the smooth green bottle in the other.",
+    "Lift the narrow-necked bottle in one arm and the smooth green bottle in the other.",
+    "Grab and lift the long thin bottle, then lift the green bottle with indented base next.",
+    "Grab the bottles the bottle with ridges on bottom and the medium green bottle.",
+    "Take the smooth bottle with red lid, then use the other arm for the bottle with white printed label.",
+    "Hold onto the medium dark brown bottle and the medium green bottle using both hands.",
+    "Lift both the narrow-necked bottle and the bottle with white printed label bottles.",
+    "Use separate arms to pick the Coca-Cola bottle and the bottle with rounded neck.",
+    "Handle the bottle with ridges on bottom, then handle the handheld green bottle without arm specifics.",
+    "Hold the bottle with white neck and red top and the medium green bottle with capped neck using both arms.",
+    "Hold the hand-sized soda bottle in one hand and the medium green bottle in another.",
+    "Pick up the hand-sized soda bottle and the bottle with narrow top together.",
+    "Pick the bottle with white neck and red top with one hand, pick the plastic bottle next.",
+    "Catch the plastic drink bottle in one arm, the medium-sized green bottle in the other.",
+    "Pick up the plastic drink bottle and the smooth green bottle using separate hands.",
+    "Hold the plastic drink bottle in one hand, the bottle with ridges near base in another.",
+    "Catch the bottle with ridges on bottom, then catch the plastic bottle after.",
+    "Secure the bottle with ridges on bottom and the smooth green plastic bottle using separate hands.",
+    "Hold the bottle with white neck and red top in one hand, then hold the medium-sized green bottle in the other.",
+    "Hold the Coca-Cola bottle and the medium-sized green bottle, one in each hand.",
+    "Catch the plastic drink bottle with one hand, catch the green bottle with indented base with the other.",
+    "Handle the Coca-Cola bottle and the smooth green bottle together without arm details.",
+    "Catch the Coca-Cola bottle first, then catch the green bottle with indented base.",
+    "Use one arm for the dark drink bottle with logo and the other for the bottle with white printed label.",
+    "Lift the dark drink bottle with logo in one hand and the medium green bottle with capped neck in the other.",
+    "Pick the medium dark brown bottle first and then the smooth green bottle.",
+    "Grab the bottle with ridges on bottom with an arm, grab the smooth green bottle next.",
+    "Pick the hand-sized soda bottle first, then pick the green bottle with indented base without mentioning arms.",
+    "Grab the plastic drink bottle with one arm, the medium green bottle with capped neck with the other.",
+    "Hold the dark drink bottle with logo and the smooth green plastic bottle using both arms separately.",
+    "Use each arm to hold the brown bottle with red label and the bottle with ridges near base.",
+    "Grasp the long thin bottle and the bottle with white printed label with both arms.",
+    "Reach for the narrow-necked bottle, then grab the medium-sized green bottle.",
+    "Lift the smooth bottle with red lid with one arm and the smooth green bottle with the other.",
+    "Grab the bottle with ridges on bottom first, then grab the green bottle with indented base second.",
+    "Catch the narrow-necked bottle in one hand and the bottle with narrow top too.",
+    "Raise the narrow-necked bottle first, then grab the medium green bottle next.",
+    "Grab the Coca-Cola bottle and the bottle with white printed label one by one.",
+    "Use each arm to grab the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Hold the red-capped bottle and the green bottle with indented base separately.",
+    "Pick the smooth bottle with red lid with one hand, the smooth green plastic bottle with another.",
+    "Secure the narrow-necked bottle in one hand, the bottle with rounded neck in other.",
+    "Grasp the dark drink bottle with logo and the bottle with white printed label at the same time.",
+    "Grab the long thin bottle with one hand, then reach for the plastic bottle.",
+    "Catch the plastic drink bottle with one arm, then grab the plastic bottle.",
+    "Lift the hand-sized soda bottle and the medium-sized green bottle simultaneously with both arms.",
+    "Take the medium dark brown bottle with one arm, hold the medium green bottle too.",
+    "Catch the dark drink bottle with logo, then catch the bottle with ridges near base without mentioning arms.",
+    "Lift the Coca-Cola bottle and the bottle with narrow top together with both hands.",
+    "Lift bottle the brown bottle with red label, then bottle the smooth green bottle.",
+    "Pick the brown bottle with red label in one arm and the plastic bottle in the other.",
+    "Lift the hand-sized soda bottle in one arm and the bottle with white printed label in the other.",
+    "Grab and lift the brown bottle with red label, then lift the plastic bottle next.",
+    "Grab the bottles the bottle with ridges on bottom and the handheld green bottle.",
+    "Take the long thin bottle, then use the other arm for the medium-sized green bottle.",
+    "Hold onto the narrow-necked bottle and the green bottle with indented base using both hands.",
+    "Lift both the bottle with ridges on bottom and the plastic bottle bottles.",
+    "Use separate arms to pick the hand-sized soda bottle and the medium green bottle with capped neck.",
+    "Handle the Coca-Cola bottle, then handle the plastic bottle without arm specifics.",
+    "Hold the narrow-necked bottle and the smooth green bottle using both arms.",
+    "Hold the brown bottle with red label in one hand and the bottle with rounded neck in another.",
+    "Pick up the red-capped bottle and the medium green bottle with capped neck together.",
+    "Pick the medium dark brown bottle with one hand, pick the smooth green bottle next.",
+    "Catch the Coca-Cola bottle in one arm, the medium green bottle in the other.",
+    "Pick up the bottle with white neck and red top and the bottle with narrow top using separate hands.",
+    "Hold the smooth bottle with red lid in one hand, the smooth green plastic bottle in another.",
+    "Catch the Coca-Cola bottle, then catch the medium-sized green bottle after.",
+    "Secure the hand-sized soda bottle and the bottle with rounded neck using separate hands."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode470.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and lift the plastic drink bottle, then lift the medium green bottle next.",
+    "Hold the plastic drink bottle and the smooth green plastic bottle separately.",
+    "Use one arm for the bottle with white neck and red top and the other for the plastic bottle.",
+    "Take the bottle with ridges on bottom with one arm, hold the medium-sized green bottle too.",
+    "Use each arm to grab the red-capped bottle and the medium green bottle with capped neck.",
+    "Catch the dark drink bottle with logo, then catch the bottle with narrow top after.",
+    "Catch the narrow-necked bottle in one hand and the smooth green plastic bottle too.",
+    "Pick the plastic drink bottle first, then pick the bottle with white printed label without mentioning arms.",
+    "Hold the brown bottle with red label and the medium green bottle using both arms.",
+    "Pick up the smooth bottle with red lid and the bottle with rounded neck using separate hands.",
+    "Raise the narrow-necked bottle first, then grab the green bottle with indented base next.",
+    "Pick the bottle with ridges on bottom with one hand, the handheld green bottle with another.",
+    "Grab the brown bottle with red label and the medium green bottle with capped neck one by one.",
+    "Lift the long thin bottle in one arm and the medium green bottle with capped neck in the other.",
+    "Lift the hand-sized soda bottle with one arm and the handheld green bottle with the other.",
+    "Lift the long thin bottle and the green bottle with indented base simultaneously with both arms.",
+    "Secure the red-capped bottle in one hand, the green bottle with indented base in other.",
+    "Grasp the medium dark brown bottle and the smooth green plastic bottle at the same time.",
+    "Catch the medium dark brown bottle with one hand, catch the smooth green bottle with the other.",
+    "Use separate arms to pick the bottle with white neck and red top and the handheld green bottle.",
+    "Hold the hand-sized soda bottle in one hand, the bottle with narrow top in another.",
+    "Handle the hand-sized soda bottle, then handle the medium-sized green bottle without arm specifics.",
+    "Lift the Coca-Cola bottle and the handheld green bottle together with both hands.",
+    "Catch the brown bottle with red label first, then catch the medium green bottle with capped neck.",
+    "Pick up the dark drink bottle with logo and the bottle with narrow top together.",
+    "Pick the brown bottle with red label with one hand, pick the medium green bottle with capped neck next.",
+    "Secure the long thin bottle and the green bottle with indented base using separate hands.",
+    "Pick the hand-sized soda bottle first and then the handheld green bottle.",
+    "Grab the bottle with ridges on bottom first, then grab the medium green bottle second.",
+    "Catch the Coca-Cola bottle with one arm, then grab the medium green bottle with capped neck.",
+    "Grasp the hand-sized soda bottle and the bottle with narrow top with both arms.",
+    "Reach for the plastic drink bottle, then grab the bottle with narrow top.",
+    "Pick the medium dark brown bottle in one arm and the medium green bottle in the other.",
+    "Grab the hand-sized soda bottle with an arm, grab the medium green bottle next.",
+    "Use each arm to hold the hand-sized soda bottle and the bottle with ridges near base.",
+    "Lift both the hand-sized soda bottle and the bottle with ridges near base bottles.",
+    "Hold the bottle with ridges on bottom and the bottle with white printed label, one in each hand.",
+    "Catch the hand-sized soda bottle in one arm, the medium green bottle with capped neck in the other.",
+    "Lift the bottle with white neck and red top in one hand and the smooth green bottle in the other.",
+    "Hold the smooth bottle with red lid and the green bottle with indented base using both arms separately.",
+    "Grab the bottle with white neck and red top with one arm, the handheld green bottle with the other.",
+    "Take the brown bottle with red label, then use the other arm for the smooth green bottle.",
+    "Lift bottle the narrow-necked bottle, then bottle the bottle with narrow top.",
+    "Grab the medium dark brown bottle with one hand, then reach for the medium green bottle.",
+    "Hold onto the narrow-necked bottle and the smooth green plastic bottle using both hands.",
+    "Grab the bottles the Coca-Cola bottle and the smooth green bottle.",
+    "Hold the narrow-necked bottle in one hand, then hold the medium green bottle in the other.",
+    "Hold the bottle with white neck and red top in one hand and the smooth green bottle in another.",
+    "Catch the red-capped bottle, then catch the plastic bottle without mentioning arms.",
+    "Handle the bottle with ridges on bottom and the bottle with ridges near base together without arm details.",
+    "Grab and lift the smooth bottle with red lid, then lift the green bottle with indented base next.",
+    "Hold the hand-sized soda bottle and the smooth green bottle separately.",
+    "Use one arm for the Coca-Cola bottle and the other for the smooth green plastic bottle.",
+    "Take the bottle with ridges on bottom with one arm, hold the medium green bottle with capped neck too.",
+    "Use each arm to grab the bottle with white neck and red top and the bottle with narrow top.",
+    "Catch the plastic drink bottle, then catch the plastic bottle after.",
+    "Catch the narrow-necked bottle in one hand and the green bottle with indented base too.",
+    "Pick the hand-sized soda bottle first, then pick the bottle with ridges near base without mentioning arms.",
+    "Hold the medium dark brown bottle and the smooth green plastic bottle using both arms.",
+    "Pick up the bottle with ridges on bottom and the medium-sized green bottle using separate hands.",
+    "Raise the narrow-necked bottle first, then grab the bottle with narrow top next.",
+    "Pick the long thin bottle with one hand, the bottle with ridges near base with another.",
+    "Grab the plastic drink bottle and the medium green bottle with capped neck one by one.",
+    "Lift the hand-sized soda bottle in one arm and the bottle with ridges near base in the other.",
+    "Lift the hand-sized soda bottle with one arm and the plastic bottle with the other.",
+    "Lift the plastic drink bottle and the bottle with ridges near base simultaneously with both arms.",
+    "Secure the narrow-necked bottle in one hand, the medium green bottle with capped neck in other.",
+    "Grasp the plastic drink bottle and the smooth green plastic bottle at the same time.",
+    "Catch the plastic drink bottle with one hand, catch the medium green bottle with capped neck with the other.",
+    "Use separate arms to pick the medium dark brown bottle and the bottle with rounded neck.",
+    "Hold the Coca-Cola bottle in one hand, the plastic bottle in another.",
+    "Handle the smooth bottle with red lid, then handle the plastic bottle without arm specifics.",
+    "Lift the brown bottle with red label and the bottle with white printed label together with both hands.",
+    "Catch the smooth bottle with red lid first, then catch the plastic bottle.",
+    "Pick up the Coca-Cola bottle and the smooth green plastic bottle together.",
+    "Pick the bottle with white neck and red top with one hand, pick the smooth green bottle next.",
+    "Secure the red-capped bottle and the medium green bottle using separate hands.",
+    "Pick the bottle with ridges on bottom first and then the medium green bottle with capped neck.",
+    "Grab the long thin bottle first, then grab the medium-sized green bottle second.",
+    "Catch the smooth bottle with red lid with one arm, then grab the medium-sized green bottle.",
+    "Grasp the brown bottle with red label and the handheld green bottle with both arms.",
+    "Reach for the long thin bottle, then grab the plastic bottle.",
+    "Pick the long thin bottle in one arm and the plastic bottle in the other.",
+    "Grab the red-capped bottle with an arm, grab the medium green bottle with capped neck next.",
+    "Use each arm to hold the Coca-Cola bottle and the smooth green plastic bottle.",
+    "Lift both the narrow-necked bottle and the bottle with white printed label bottles.",
+    "Hold the brown bottle with red label and the medium green bottle, one in each hand.",
+    "Catch the plastic drink bottle in one arm, the bottle with ridges near base in the other.",
+    "Lift the narrow-necked bottle in one hand and the bottle with white printed label in the other.",
+    "Hold the smooth bottle with red lid and the plastic bottle using both arms separately.",
+    "Grab the brown bottle with red label with one arm, the medium green bottle with capped neck with the other.",
+    "Take the smooth bottle with red lid, then use the other arm for the bottle with narrow top.",
+    "Lift bottle the red-capped bottle, then bottle the bottle with narrow top.",
+    "Grab the brown bottle with red label with one hand, then reach for the handheld green bottle.",
+    "Hold onto the red-capped bottle and the green bottle with indented base using both hands.",
+    "Grab the bottles the smooth bottle with red lid and the bottle with narrow top.",
+    "Hold the red-capped bottle in one hand, then hold the bottle with white printed label in the other.",
+    "Hold the dark drink bottle with logo in one hand and the bottle with ridges near base in another.",
+    "Catch the bottle with white neck and red top, then catch the medium green bottle without mentioning arms.",
+    "Handle the smooth bottle with red lid and the bottle with narrow top together without arm details."
+  ],
+  "unseen": [
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Lift the brown bottle and the green bottle using both arms.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green bottle simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Hold the brown bottle in one hand, the green bottle with white label in the other.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green bottle.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap and the green plastic bottle with ridged bottom with arms.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with white label with the other.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode478.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and lift the red-capped bottle, then lift the bottle with ridges near base next.",
+    "Lift bottle the medium dark brown bottle, then bottle the medium-sized green bottle.",
+    "Secure the brown bottle with red label and the smooth green plastic bottle using separate hands.",
+    "Hold the plastic drink bottle and the smooth green plastic bottle, one in each hand.",
+    "Grab the medium dark brown bottle with one hand, then reach for the plastic bottle.",
+    "Pick the Coca-Cola bottle in one arm and the bottle with rounded neck in the other.",
+    "Pick the long thin bottle first, then pick the medium green bottle without mentioning arms.",
+    "Catch the bottle with white neck and red top in one arm, the green bottle with indented base in the other.",
+    "Grasp the long thin bottle and the bottle with white printed label with both arms.",
+    "Lift both the hand-sized soda bottle and the smooth green plastic bottle bottles.",
+    "Catch the long thin bottle with one arm, then grab the bottle with rounded neck.",
+    "Take the brown bottle with red label, then use the other arm for the plastic bottle.",
+    "Reach for the long thin bottle, then grab the handheld green bottle.",
+    "Use each arm to grab the plastic drink bottle and the medium-sized green bottle.",
+    "Pick up the long thin bottle and the medium green bottle with capped neck together.",
+    "Grab the bottles the brown bottle with red label and the green bottle with indented base.",
+    "Secure the plastic drink bottle in one hand, the medium green bottle with capped neck in other.",
+    "Take the hand-sized soda bottle with one arm, hold the handheld green bottle too.",
+    "Lift the bottle with white neck and red top and the bottle with white printed label together with both hands.",
+    "Pick the medium dark brown bottle with one hand, the plastic bottle with another.",
+    "Lift the long thin bottle and the medium-sized green bottle simultaneously with both arms.",
+    "Use one arm for the red-capped bottle and the other for the bottle with narrow top.",
+    "Hold the bottle with white neck and red top and the smooth green bottle separately.",
+    "Hold the bottle with white neck and red top and the plastic bottle using both arms.",
+    "Catch the plastic drink bottle, then catch the bottle with ridges near base after.",
+    "Handle the dark drink bottle with logo, then handle the smooth green plastic bottle without arm specifics.",
+    "Hold the medium dark brown bottle in one hand and the plastic bottle in another.",
+    "Hold the plastic drink bottle and the medium green bottle with capped neck using both arms separately.",
+    "Grab the long thin bottle with an arm, grab the medium-sized green bottle next.",
+    "Hold the bottle with ridges on bottom in one hand, then hold the bottle with white printed label in the other.",
+    "Catch the Coca-Cola bottle first, then catch the medium green bottle.",
+    "Catch the red-capped bottle in one hand and the bottle with narrow top too.",
+    "Pick the dark drink bottle with logo with one hand, pick the bottle with white printed label next.",
+    "Lift the long thin bottle in one hand and the smooth green plastic bottle in the other.",
+    "Use separate arms to pick the long thin bottle and the smooth green plastic bottle.",
+    "Handle the bottle with ridges on bottom and the medium green bottle with capped neck together without arm details.",
+    "Pick the smooth bottle with red lid first and then the green bottle with indented base.",
+    "Catch the smooth bottle with red lid with one hand, catch the handheld green bottle with the other.",
+    "Lift the bottle with ridges on bottom in one arm and the plastic bottle in the other.",
+    "Raise the bottle with white neck and red top first, then grab the green bottle with indented base next.",
+    "Grab the Coca-Cola bottle and the green bottle with indented base one by one.",
+    "Use each arm to hold the smooth bottle with red lid and the plastic bottle.",
+    "Hold onto the red-capped bottle and the bottle with white printed label using both hands.",
+    "Catch the red-capped bottle, then catch the smooth green bottle without mentioning arms.",
+    "Pick up the plastic drink bottle and the medium green bottle using separate hands.",
+    "Grasp the dark drink bottle with logo and the green bottle with indented base at the same time.",
+    "Hold the bottle with white neck and red top in one hand, the medium green bottle with capped neck in another.",
+    "Grab the smooth bottle with red lid first, then grab the handheld green bottle second.",
+    "Grab the long thin bottle with one arm, the smooth green plastic bottle with the other.",
+    "Lift the narrow-necked bottle with one arm and the handheld green bottle with the other.",
+    "Grab and lift the smooth bottle with red lid, then lift the plastic bottle next.",
+    "Lift bottle the Coca-Cola bottle, then bottle the medium green bottle with capped neck.",
+    "Secure the bottle with white neck and red top and the handheld green bottle using separate hands.",
+    "Hold the brown bottle with red label and the bottle with narrow top, one in each hand.",
+    "Grab the smooth bottle with red lid with one hand, then reach for the handheld green bottle.",
+    "Pick the dark drink bottle with logo in one arm and the handheld green bottle in the other.",
+    "Pick the bottle with white neck and red top first, then pick the bottle with rounded neck without mentioning arms.",
+    "Catch the medium dark brown bottle in one arm, the plastic bottle in the other.",
+    "Grasp the Coca-Cola bottle and the handheld green bottle with both arms.",
+    "Lift both the smooth bottle with red lid and the handheld green bottle bottles.",
+    "Catch the hand-sized soda bottle with one arm, then grab the green bottle with indented base.",
+    "Take the medium dark brown bottle, then use the other arm for the medium-sized green bottle.",
+    "Reach for the smooth bottle with red lid, then grab the smooth green bottle.",
+    "Use each arm to grab the smooth bottle with red lid and the handheld green bottle.",
+    "Pick up the plastic drink bottle and the plastic bottle together.",
+    "Grab the bottles the hand-sized soda bottle and the handheld green bottle.",
+    "Secure the hand-sized soda bottle in one hand, the handheld green bottle in other.",
+    "Take the hand-sized soda bottle with one arm, hold the bottle with white printed label too.",
+    "Lift the Coca-Cola bottle and the green bottle with indented base together with both hands.",
+    "Pick the bottle with white neck and red top with one hand, the smooth green plastic bottle with another.",
+    "Lift the long thin bottle and the medium green bottle with capped neck simultaneously with both arms.",
+    "Use one arm for the bottle with white neck and red top and the other for the smooth green plastic bottle.",
+    "Hold the plastic drink bottle and the medium green bottle separately.",
+    "Hold the smooth bottle with red lid and the medium green bottle using both arms.",
+    "Catch the red-capped bottle, then catch the smooth green plastic bottle after.",
+    "Handle the medium dark brown bottle, then handle the bottle with narrow top without arm specifics.",
+    "Hold the brown bottle with red label in one hand and the plastic bottle in another.",
+    "Hold the dark drink bottle with logo and the bottle with narrow top using both arms separately.",
+    "Grab the narrow-necked bottle with an arm, grab the bottle with white printed label next.",
+    "Hold the dark drink bottle with logo in one hand, then hold the bottle with ridges near base in the other.",
+    "Catch the narrow-necked bottle first, then catch the plastic bottle.",
+    "Catch the dark drink bottle with logo in one hand and the bottle with narrow top too.",
+    "Pick the hand-sized soda bottle with one hand, pick the bottle with ridges near base next.",
+    "Lift the bottle with ridges on bottom in one hand and the bottle with narrow top in the other.",
+    "Use separate arms to pick the Coca-Cola bottle and the medium-sized green bottle.",
+    "Handle the Coca-Cola bottle and the plastic bottle together without arm details.",
+    "Pick the bottle with white neck and red top first and then the smooth green bottle.",
+    "Catch the hand-sized soda bottle with one hand, catch the medium-sized green bottle with the other.",
+    "Lift the narrow-necked bottle in one arm and the bottle with rounded neck in the other.",
+    "Raise the Coca-Cola bottle first, then grab the bottle with narrow top next.",
+    "Grab the Coca-Cola bottle and the plastic bottle one by one.",
+    "Use each arm to hold the long thin bottle and the bottle with rounded neck.",
+    "Hold onto the hand-sized soda bottle and the bottle with rounded neck using both hands.",
+    "Catch the long thin bottle, then catch the medium-sized green bottle without mentioning arms.",
+    "Pick up the plastic drink bottle and the bottle with ridges near base using separate hands.",
+    "Grasp the medium dark brown bottle and the bottle with ridges near base at the same time.",
+    "Hold the brown bottle with red label in one hand, the medium green bottle in another.",
+    "Grab the brown bottle with red label first, then grab the bottle with white printed label second.",
+    "Grab the plastic drink bottle with one arm, the smooth green plastic bottle with the other.",
+    "Lift the smooth bottle with red lid with one arm and the smooth green bottle with the other."
+  ],
+  "unseen": [
+    "Grab the brown bottle and the green bottle with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Pick the brown bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the plastic soda bottle and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the brown bottle and the green bottle using both arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Hold the bottle with red screw cap in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle in the other.",
+    "Pick the bottle with red screw cap, then pick the green plastic bottle with ridged bottom.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle using both arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with the other.",
+    "Grab the bottle with red screw cap and the green bottle with arms.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Pick the bottle with red screw cap with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Use one arm to grab the plastic soda bottle, the other for the green bottle with white label.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Hold the bottle with red screw cap in one hand, the green bottle with white label in the other.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other."
+  ]
+}

pick_dual_bottles/arx-x5_randomized_500/instructions/episode71.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift bottle the brown bottle with red label, then bottle the medium green bottle.",
+    "Lift the narrow-necked bottle with one arm and the bottle with narrow top with the other.",
+    "Use separate arms to pick the hand-sized soda bottle and the bottle with narrow top.",
+    "Pick up the long thin bottle and the medium green bottle using separate hands.",
+    "Take the narrow-necked bottle, then use the other arm for the smooth green bottle.",
+    "Pick the narrow-necked bottle first, then pick the green bottle with indented base without mentioning arms.",
+    "Handle the hand-sized soda bottle and the green bottle with indented base together without arm details.",
+    "Catch the hand-sized soda bottle in one hand and the medium green bottle too.",
+    "Catch the smooth bottle with red lid first, then catch the handheld green bottle.",
+    "Handle the long thin bottle, then handle the medium-sized green bottle without arm specifics.",
+    "Secure the Coca-Cola bottle and the plastic bottle using separate hands.",
+    "Lift the hand-sized soda bottle and the bottle with narrow top simultaneously with both arms.",
+    "Grab the Coca-Cola bottle with one hand, then reach for the bottle with ridges near base.",
+    "Pick the dark drink bottle with logo with one hand, the smooth green plastic bottle with another.",
+    "Grasp the hand-sized soda bottle and the bottle with rounded neck with both arms.",
+    "Pick the smooth bottle with red lid with one hand, pick the plastic bottle next.",
+    "Catch the brown bottle with red label, then catch the medium green bottle with capped neck after.",
+    "Grab the bottles the plastic drink bottle and the plastic bottle.",
+    "Hold the bottle with white neck and red top in one hand, then hold the bottle with narrow top in the other.",
+    "Pick up the bottle with ridges on bottom and the bottle with ridges near base together.",
+    "Catch the dark drink bottle with logo, then catch the bottle with white printed label without mentioning arms.",
+    "Lift the brown bottle with red label in one arm and the medium-sized green bottle in the other.",
+    "Grab the narrow-necked bottle and the plastic bottle one by one.",
+    "Grab the smooth bottle with red lid with one arm, the medium green bottle with capped neck with the other.",
+    "Catch the dark drink bottle with logo with one arm, then grab the handheld green bottle.",
+    "Catch the medium dark brown bottle with one hand, catch the bottle with white printed label with the other.",
+    "Hold the plastic drink bottle and the bottle with white printed label using both arms separately.",
+    "Hold the smooth bottle with red lid and the bottle with ridges near base using both arms.",
+    "Hold onto the bottle with white neck and red top and the smooth green plastic bottle using both hands.",
+    "Lift both the Coca-Cola bottle and the green bottle with indented base bottles.",
+    "Take the red-capped bottle with one arm, hold the smooth green plastic bottle too.",
+    "Hold the bottle with white neck and red top and the handheld green bottle, one in each hand.",
+    "Grasp the dark drink bottle with logo and the bottle with ridges near base at the same time.",
+    "Use each arm to hold the plastic drink bottle and the bottle with ridges near base.",
+    "Secure the brown bottle with red label in one hand, the bottle with white printed label in other.",
+    "Raise the narrow-necked bottle first, then grab the medium green bottle next.",
+    "Lift the smooth bottle with red lid in one hand and the medium-sized green bottle in the other.",
+    "Pick the hand-sized soda bottle in one arm and the bottle with rounded neck in the other.",
+    "Catch the bottle with ridges on bottom in one arm, the plastic bottle in the other.",
+    "Hold the bottle with white neck and red top and the green bottle with indented base separately.",
+    "Grab the red-capped bottle first, then grab the bottle with ridges near base second.",
+    "Pick the plastic drink bottle first and then the bottle with narrow top.",
+    "Hold the long thin bottle in one hand, the handheld green bottle in another.",
+    "Reach for the medium dark brown bottle, then grab the green bottle with indented base.",
+    "Use one arm for the narrow-necked bottle and the other for the bottle with narrow top.",
+    "Grab the red-capped bottle with an arm, grab the bottle with rounded neck next.",
+    "Hold the bottle with white neck and red top in one hand and the medium-sized green bottle in another.",
+    "Grab and lift the hand-sized soda bottle, then lift the bottle with ridges near base next.",
+    "Use each arm to grab the bottle with white neck and red top and the bottle with narrow top.",
+    "Lift the Coca-Cola bottle and the green bottle with indented base together with both hands.",
+    "Lift bottle the plastic drink bottle, then bottle the medium green bottle.",
+    "Lift the plastic drink bottle with one arm and the green bottle with indented base with the other.",
+    "Use separate arms to pick the medium dark brown bottle and the bottle with ridges near base.",
+    "Pick up the bottle with ridges on bottom and the smooth green bottle using separate hands.",
+    "Take the brown bottle with red label, then use the other arm for the green bottle with indented base.",
+    "Pick the medium dark brown bottle first, then pick the smooth green plastic bottle without mentioning arms.",
+    "Handle the long thin bottle and the bottle with rounded neck together without arm details.",
+    "Catch the dark drink bottle with logo in one hand and the medium-sized green bottle too.",
+    "Catch the long thin bottle first, then catch the bottle with narrow top.",
+    "Handle the red-capped bottle, then handle the plastic bottle without arm specifics.",
+    "Secure the Coca-Cola bottle and the plastic bottle using separate hands.",
+    "Lift the red-capped bottle and the bottle with ridges near base simultaneously with both arms.",
+    "Grab the bottle with ridges on bottom with one hand, then reach for the green bottle with indented base.",
+    "Pick the hand-sized soda bottle with one hand, the smooth green bottle with another.",
+    "Grasp the hand-sized soda bottle and the smooth green bottle with both arms.",
+    "Pick the dark drink bottle with logo with one hand, pick the handheld green bottle next.",
+    "Catch the brown bottle with red label, then catch the bottle with white printed label after.",
+    "Grab the bottles the bottle with ridges on bottom and the plastic bottle.",
+    "Hold the long thin bottle in one hand, then hold the smooth green bottle in the other.",
+    "Pick up the dark drink bottle with logo and the bottle with ridges near base together.",
+    "Catch the bottle with ridges on bottom, then catch the handheld green bottle without mentioning arms.",
+    "Lift the bottle with white neck and red top in one arm and the handheld green bottle in the other.",
+    "Grab the brown bottle with red label and the green bottle with indented base one by one.",
+    "Grab the medium dark brown bottle with one arm, the smooth green plastic bottle with the other.",
+    "Catch the dark drink bottle with logo with one arm, then grab the medium-sized green bottle.",
+    "Catch the medium dark brown bottle with one hand, catch the bottle with rounded neck with the other.",
+    "Hold the medium dark brown bottle and the smooth green bottle using both arms separately.",
+    "Hold the Coca-Cola bottle and the smooth green plastic bottle using both arms.",
+    "Hold onto the bottle with white neck and red top and the smooth green plastic bottle using both hands.",
+    "Lift both the medium dark brown bottle and the medium green bottle with capped neck bottles.",
+    "Take the red-capped bottle with one arm, hold the bottle with ridges near base too.",
+    "Hold the hand-sized soda bottle and the medium-sized green bottle, one in each hand.",
+    "Grasp the brown bottle with red label and the bottle with white printed label at the same time.",
+    "Use each arm to hold the dark drink bottle with logo and the bottle with narrow top.",
+    "Secure the long thin bottle in one hand, the plastic bottle in other.",
+    "Raise the hand-sized soda bottle first, then grab the green bottle with indented base next.",
+    "Lift the hand-sized soda bottle in one hand and the medium green bottle with capped neck in the other.",
+    "Pick the medium dark brown bottle in one arm and the green bottle with indented base in the other.",
+    "Catch the bottle with white neck and red top in one arm, the bottle with ridges near base in the other.",
+    "Hold the bottle with white neck and red top and the bottle with ridges near base separately.",
+    "Grab the brown bottle with red label first, then grab the medium-sized green bottle second.",
+    "Pick the bottle with ridges on bottom first and then the bottle with narrow top.",
+    "Hold the dark drink bottle with logo in one hand, the medium green bottle in another.",
+    "Reach for the hand-sized soda bottle, then grab the medium-sized green bottle.",
+    "Use one arm for the hand-sized soda bottle and the other for the bottle with ridges near base.",
+    "Grab the Coca-Cola bottle with an arm, grab the medium green bottle with capped neck next.",
+    "Hold the long thin bottle in one hand and the medium green bottle with capped neck in another.",
+    "Grab and lift the plastic drink bottle, then lift the bottle with narrow top next.",
+    "Use each arm to grab the plastic drink bottle and the green bottle with indented base.",
+    "Lift the bottle with ridges on bottom and the medium-sized green bottle together with both hands."
+  ],
+  "unseen": [
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the bottle with red screw cap and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the brown bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green plastic bottle with ridged bottom at once.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green bottle with white label using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Hold the plastic soda bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the brown bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the brown bottle, then pick the green plastic bottle with ridged bottom.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle at once.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the plastic soda bottle and the green bottle with white label with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green bottle simultaneously.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle.",
+    "Pick the plastic soda bottle with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle with white label at once.",
+    "Pick the plastic soda bottle, then pick the green bottle.",
+    "Grab the brown bottle and the green bottle with white label with arms.",
+    "Lift the plastic soda bottle and the green bottle using both arms.",
+    "Grab the plastic soda bottle with one arm, grab the green bottle with white label with the other.",
+    "Pick up the bottle with red screw cap and the green plastic bottle with ridged bottom simultaneously.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green plastic bottle with ridged bottom.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label using both arms.",
+    "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once.",
+    "Pick the plastic soda bottle, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green bottle with arms.",
+    "Lift the plastic soda bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Hold the brown bottle in one hand, the green plastic bottle with ridged bottom in the other.",
+    "Use one arm to grab the bottle with red screw cap, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Take hold of the plastic soda bottle and the green bottle at once.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the bottle with red screw cap and the green bottle with white label with arms.",
+    "Lift the brown bottle and the green bottle with white label using both arms.",
+    "Grab the brown bottle with one arm, grab the green plastic bottle with ridged bottom with the other.",
+    "Pick up the plastic soda bottle and the green bottle with white label simultaneously.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the bottle with red screw cap, then pick the green bottle with white label.",
+    "Grab the brown bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the brown bottle and the green plastic bottle with ridged bottom using both arms.",
+    "Grab the bottle with red screw cap with one arm, grab the green bottle with the other.",
+    "Pick up the brown bottle and the green bottle with white label simultaneously.",
+    "Hold the plastic soda bottle in one hand, the green bottle with white label in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the bottle with red screw cap and the green bottle with white label at once.",
+    "Pick the brown bottle, then pick the green bottle with white label.",
+    "Grab the plastic soda bottle and the green bottle with arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the plastic soda bottle and the green bottle simultaneously.",
+    "Hold the plastic soda bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the plastic soda bottle, the other for the green plastic bottle with ridged bottom.",
+    "Pick the bottle with red screw cap with one arm, the green bottle with white label with the other.",
+    "Pick up the plastic soda bottle and the green bottle using both arms.",
+    "Take hold of the brown bottle and the green bottle at once.",
+    "Pick the brown bottle, then pick the green bottle.",
+    "Grab the plastic soda bottle and the green plastic bottle with ridged bottom with arms.",
+    "Lift the bottle with red screw cap and the green bottle using both arms.",
+    "Grab the brown bottle with one arm, grab the green bottle with the other.",
+    "Pick up the bottle with red screw cap and the green bottle with white label simultaneously.",
+    "Hold the brown bottle in one hand, the green bottle in the other.",
+    "Use one arm to grab the brown bottle, the other for the green bottle with white label.",
+    "Pick the plastic soda bottle with one arm, the green plastic bottle with ridged bottom with the other.",
+    "Pick up the brown bottle and the green bottle with white label using both arms."
+  ]
+}