diff --git a/ai2thor/tasks/ai2thor04068/init.json b/ai2thor/tasks/ai2thor04068/init.json
index c58e595e2c2604e61f4a08c620dc800d488eaee8..3bde7d002a8fb2db4f4b15c02f4c1ad755ea802d 100644
--- a/ai2thor/tasks/ai2thor04068/init.json
+++ b/ai2thor/tasks/ai2thor04068/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan214",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04068/task.json b/ai2thor/tasks/ai2thor04068/task.json
index 2d16b5722876472f23193b612ec048de2f772203..98d03bf0e81f45609e9bef2f5a32507ef7be5831 100644
--- a/ai2thor/tasks/ai2thor04068/task.json
+++ b/ai2thor/tasks/ai2thor04068/task.json
@@ -5,20 +5,20 @@
   "golden_actions": {
     "steps": 14,
     "actions": [
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "PickupObject(KeyChain)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveLeft(1.0)",
-      "MoveAhead(0.25)",
-      "PutObject(Box)",
-      "Done"
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Pick(KeyChain)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(left, 1.0)",
+      "Move(forward, 0.25)",
+      "Place(Box)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan214",
@@ -40,4 +40,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04069/init.json b/ai2thor/tasks/ai2thor04069/init.json
index c58e595e2c2604e61f4a08c620dc800d488eaee8..3bde7d002a8fb2db4f4b15c02f4c1ad755ea802d 100644
--- a/ai2thor/tasks/ai2thor04069/init.json
+++ b/ai2thor/tasks/ai2thor04069/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan214",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04069/task.json b/ai2thor/tasks/ai2thor04069/task.json
index a8038534a95c54b181ee2dd8de22a9c650fd8f3c..74230a4c65fd60008e536665a641fd45e43db22e 100644
--- a/ai2thor/tasks/ai2thor04069/task.json
+++ b/ai2thor/tasks/ai2thor04069/task.json
@@ -5,20 +5,20 @@
   "golden_actions": {
     "steps": 14,
     "actions": [
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "PickupObject(Laptop)",
-      "LookDown",
-      "RotateRight(90)",
-      "MoveRight(1.0)",
-      "MoveAhead(0.5)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PutObject(CoffeeTable)",
-      "ToggleObjectOn(Laptop)",
-      "Done"
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Pick(Laptop)",
+      "Tilt(down, 30)",
+      "Rotate(right, 90)",
+      "Move(right, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Place(CoffeeTable)",
+      "ChangeState(Laptop, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan214",
@@ -46,4 +46,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Study and Work",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04070/task.json b/ai2thor/tasks/ai2thor04070/task.json
index 7bda2c3031d1dfd6bbbd890d70cab48a38ddd082..ac934ae8fb16eb90bc6e876c0c728062a255de89 100644
--- a/ai2thor/tasks/ai2thor04070/task.json
+++ b/ai2thor/tasks/ai2thor04070/task.json
@@ -5,17 +5,17 @@
   "golden_actions": {
     "steps": 11,
     "actions": [
-      "CloseObject(Laptop)",
-      "PickupObject(Laptop)",
-      "MoveLeft(0.25)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveLeft(0.25)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "BreakObject(Mirror)",
-      "Done"
+      "Manipulate(Laptop, close)",
+      "Pick(Laptop)",
+      "Move(left, 0.25)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(left, 0.25)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Manipulate(Mirror, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan215",
@@ -43,4 +43,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04071/task.json b/ai2thor/tasks/ai2thor04071/task.json
index ca8336f4fbb0d6825160dba6c31cec1aa8097a03..bdb5b6e7569dd033e0cb7bbf85649cb3f28d3357 100644
--- a/ai2thor/tasks/ai2thor04071/task.json
+++ b/ai2thor/tasks/ai2thor04071/task.json
@@ -5,15 +5,15 @@
   "golden_actions": {
     "steps": 9,
     "actions": [
-      "MoveRight(1.0)",
-      "MoveRight(0.5)",
-      "FillObjectWithLiquid(Bowl)",
-      "PickupObject(Bowl)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "FillObjectWithLiquid(HousePlant)",
-      "Done"
+      "Move(right, 1.0)",
+      "Move(right, 0.5)",
+      "Manipulate(Bowl, fillwithliquid)",
+      "Pick(Bowl)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Manipulate(HousePlant, fillwithliquid)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan215",
@@ -49,4 +49,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04072/init.json b/ai2thor/tasks/ai2thor04072/init.json
index 7b0816384d2c4e838f389855513add18d29b1d6e..f943487d7567e793ef10b866a8f0407322ffa9cc 100644
--- a/ai2thor/tasks/ai2thor04072/init.json
+++ b/ai2thor/tasks/ai2thor04072/init.json
@@ -1,26 +1,26 @@
 {
   "scene": "FloorPlan215",
   "actions": [
-    "RotateRight(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "RotateRight(90)",
-    "MoveLeft(0.25)",
-    "MoveBack(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "ToggleObjectOn(Television)",
-    "LookDown",
-    "Done"
+    "Rotate(right, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Rotate(right, 90)",
+    "Move(left, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "ChangeState(Television, on)",
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04072/task.json b/ai2thor/tasks/ai2thor04072/task.json
index 3e581dfb007a5c4b8a1464fcba40803ab35e2640..c7bf3f6737ae6be280e2aa46a9566f3263da5d78 100644
--- a/ai2thor/tasks/ai2thor04072/task.json
+++ b/ai2thor/tasks/ai2thor04072/task.json
@@ -5,16 +5,16 @@
   "golden_actions": {
     "steps": 10,
     "actions": [
-      "ToggleObjectOff(Television)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.25)",
-      "PickupObject(Pillow)",
-      "Done"
+      "ChangeState(Television, off)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.25)",
+      "Pick(Pillow)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan215",
@@ -42,4 +42,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04073/init.json b/ai2thor/tasks/ai2thor04073/init.json
index d8cf62ba539472002b1b32bacdf81b63941a77e7..75e7e8c9a9f7bd45f4ead9763dcf4eb4c8d45a18 100644
--- a/ai2thor/tasks/ai2thor04073/init.json
+++ b/ai2thor/tasks/ai2thor04073/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan217",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04073/task.json b/ai2thor/tasks/ai2thor04073/task.json
index 800b57dc61953b43cf4ae9f0a694c0e1fda26d45..c9ca15fe9b52dbb20b4b0f79fdd6c1ea685de50e 100644
--- a/ai2thor/tasks/ai2thor04073/task.json
+++ b/ai2thor/tasks/ai2thor04073/task.json
@@ -5,31 +5,31 @@
   "golden_actions": {
     "steps": 25,
     "actions": [
-      "MoveBack(0.25)",
-      "MoveLeft(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "PickupObject(Watch)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PutObject(Box)",
-      "RotateLeft(90)",
-      "MoveLeft(0.25)",
-      "PickupObject(RemoteControl)",
-      "RotateRight(90)",
-      "MoveAhead(0.25)",
-      "PutObject(Box)",
-      "Done"
+      "Move(backward, 0.25)",
+      "Move(left, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Pick(Watch)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Place(Box)",
+      "Rotate(left, 90)",
+      "Move(left, 0.25)",
+      "Pick(RemoteControl)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.25)",
+      "Place(Box)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan217",
@@ -58,4 +58,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04100/init.json b/ai2thor/tasks/ai2thor04100/init.json
index 016c59abbb8e92ce522ed0a0d2d62eaf79536f18..11fc70b0c94b48da044e195deefcbb4bf31c9308 100644
--- a/ai2thor/tasks/ai2thor04100/init.json
+++ b/ai2thor/tasks/ai2thor04100/init.json
@@ -1,13 +1,13 @@
 {
   "scene": "FloorPlan303",
   "actions": [
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "LookDown",
-    "Done"
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04100/task.json b/ai2thor/tasks/ai2thor04100/task.json
index 945e153a0587c84a9018d4f89bd211b24f4bc517..e9ff7d0c27d3d2c4d7ca6f2a63abddfc19fa5392 100644
--- a/ai2thor/tasks/ai2thor04100/task.json
+++ b/ai2thor/tasks/ai2thor04100/task.json
@@ -5,21 +5,21 @@
   "golden_actions": {
     "steps": 15,
     "actions": [
-      "PickupObject(Pencil)",
-      "MoveAhead(0.5)",
-      "MoveLeft(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PutObject(SideTable)",
-      "MoveBack(0.5)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "PickupObject(Pen)",
-      "MoveBack(0.5)",
-      "RotateLeft(90)",
-      "MoveAhead(0.5)",
-      "PutObject(SideTable)",
-      "Done"
+      "Pick(Pencil)",
+      "Move(forward, 0.5)",
+      "Move(left, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Place(SideTable)",
+      "Move(backward, 0.5)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Pick(Pen)",
+      "Move(backward, 0.5)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.5)",
+      "Place(SideTable)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan303",
@@ -59,4 +59,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04101/init.json b/ai2thor/tasks/ai2thor04101/init.json
index be17e568d99cdaf328f7f34b9b5dbab8d6683f1c..388d8d22a08dd801f7e8924013d2bb78ace7a8aa 100644
--- a/ai2thor/tasks/ai2thor04101/init.json
+++ b/ai2thor/tasks/ai2thor04101/init.json
@@ -1,63 +1,63 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "LookDown",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "PickupObject(CellPhone)",
-    "RotateLeft(90)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "LookDown",
-    "MoveAhead(0.25)",
-    "PutObject(Bed)",
-    "RotateLeft(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "LookUp",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "PickupObject(Laptop)",
-    "RotateLeft(90)",
-    "LookDown",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "MoveAhead(0.25)",
-    "PutObject(Bed)",
-    "Done"
-    ]
-}
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Tilt(down, 30)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Pick(CellPhone)",
+    "Rotate(left, 90)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Tilt(down, 30)",
+    "Move(forward, 0.25)",
+    "Place(Bed)",
+    "Rotate(left, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Tilt(up, 30)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Pick(Laptop)",
+    "Rotate(left, 90)",
+    "Tilt(down, 30)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Move(forward, 0.25)",
+    "Place(Bed)",
+    "EndTask(success)"
+  ]
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04101/task.json b/ai2thor/tasks/ai2thor04101/task.json
index 722499d0ff26ebe4f9c2bddd43333d21568b10ab..80e065161ac28c5ac86bb5bce30f3d012f9f7e9b 100644
--- a/ai2thor/tasks/ai2thor04101/task.json
+++ b/ai2thor/tasks/ai2thor04101/task.json
@@ -5,24 +5,24 @@
   "golden_actions": {
     "steps": 18,
     "actions": [
-      "PickupObject(CellPhone)",
-      "RotateLeft(90)",
-      "LookUp",
-      "MoveLeft(0.5)",
-      "MoveAhead(1.0)",
-      "PutObject(Desk)",
-      "RotateRight(90)",
-      "MoveRight(0.5)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.25)",
-      "PickupObject(Laptop)",
-      "LookDown",
-      "RotateLeft(90)",
-      "MoveAhead(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "PutObject(Desk)",
-      "Done"
+      "Pick(CellPhone)",
+      "Rotate(left, 90)",
+      "Tilt(up, 30)",
+      "Move(left, 0.5)",
+      "Move(forward, 1.0)",
+      "Place(Desk)",
+      "Rotate(right, 90)",
+      "Move(right, 0.5)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.25)",
+      "Pick(Laptop)",
+      "Tilt(down, 30)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Place(Desk)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -51,4 +51,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04102/init.json b/ai2thor/tasks/ai2thor04102/init.json
index 3a8729ab462c40a947be7f5515adf2d5400416ca..aa8cdeb984d4c57e15c816476b63d8575ec1e30b 100644
--- a/ai2thor/tasks/ai2thor04102/init.json
+++ b/ai2thor/tasks/ai2thor04102/init.json
@@ -1,10 +1,10 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "RotateRight(90)",
-    "RotateRight(90)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "Done"
+    "Rotate(right, 90)",
+    "Rotate(right, 90)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "EndTask(success)"
   ]
 }
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04102/task.json b/ai2thor/tasks/ai2thor04102/task.json
index 755e7281f4a723204a4386782a0142d7b26c7303..7018388c4207207e45282c9ba25cb212d3d21160 100644
--- a/ai2thor/tasks/ai2thor04102/task.json
+++ b/ai2thor/tasks/ai2thor04102/task.json
@@ -5,14 +5,14 @@
   "golden_actions": {
     "steps": 8,
     "actions": [
-      "ToggleObjectOff(LightSwitch)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.25)",
-      "MoveAhead(1.0)",
-      "ToggleObjectOff(DeskLamp)",
-      "Done"
+      "ChangeState(LightSwitch, off)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.25)",
+      "Move(forward, 1.0)",
+      "ChangeState(DeskLamp, off)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -40,4 +40,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04103/init.json b/ai2thor/tasks/ai2thor04103/init.json
index e3813b6ffaa869d443d50a6817e4f964e3a58659..a9fe575cd86a1e8601de8607a1ebb607b0e975f7 100644
--- a/ai2thor/tasks/ai2thor04103/init.json
+++ b/ai2thor/tasks/ai2thor04103/init.json
@@ -1,25 +1,25 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "RotateRight(90)",
-    "RotateRight(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "ToggleObjectOff(LightSwitch)",
-    "RotateLeft(90)",
-    "RotateLeft(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "ToggleObjectOff(DeskLamp)",
-    "Done"
+    "Rotate(right, 90)",
+    "Rotate(right, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "ChangeState(LightSwitch, off)",
+    "Rotate(left, 90)",
+    "Rotate(left, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "ChangeState(DeskLamp, off)",
+    "EndTask(success)"
   ]
 }
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04103/task.json b/ai2thor/tasks/ai2thor04103/task.json
index c3218a9d4b936b752b1cbb52c8aaec4c14e746d2..409c4778c6e7f33607b264ac4de2b77a87fb02c9 100644
--- a/ai2thor/tasks/ai2thor04103/task.json
+++ b/ai2thor/tasks/ai2thor04103/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "ToggleObjectOn(DeskLamp)",
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "ToggleObjectOn(LightSwitch)",
-      "Done"
+      "ChangeState(DeskLamp, on)",
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "ChangeState(LightSwitch, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -39,4 +39,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Study and Work",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04104/init.json b/ai2thor/tasks/ai2thor04104/init.json
index 0b943347901b06065703f247e0fec62535005fab..221339b85e22dd8dceb64d821d22672404d1707c 100644
--- a/ai2thor/tasks/ai2thor04104/init.json
+++ b/ai2thor/tasks/ai2thor04104/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04104/task.json b/ai2thor/tasks/ai2thor04104/task.json
index c9997bfaf493b6e9358bb3ad7d01dc8c8dc3336b..d8420c4a7a110e0646b8253c304e65c5b26930b0 100644
--- a/ai2thor/tasks/ai2thor04104/task.json
+++ b/ai2thor/tasks/ai2thor04104/task.json
@@ -5,29 +5,29 @@
   "golden_actions": {
     "steps": 23,
     "actions": [
-      "MoveLeft(0.25)",
-      "PickupObject(CreditCard)",
-      "LookUp",
-      "MoveLeft(0.25)",
-      "LookUp",
-      "MoveLeft(0.25)",
-      "PutObject(Box)",
-      "LookDown",
-      "LookDown",
-      "MoveRight(0.5)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(0.25)",
-      "PickupObject(KeyChain)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "LookUp",
-      "LookUp",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "PutObject(Box)",
-      "Done"
+      "Move(left, 0.25)",
+      "Pick(CreditCard)",
+      "Tilt(up, 30)",
+      "Move(left, 0.25)",
+      "Tilt(up, 30)",
+      "Move(left, 0.25)",
+      "Place(Box)",
+      "Tilt(down, 30)",
+      "Tilt(down, 30)",
+      "Move(right, 0.5)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.25)",
+      "Pick(KeyChain)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Tilt(up, 30)",
+      "Tilt(up, 30)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Place(Box)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -54,4 +54,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04105/init.json b/ai2thor/tasks/ai2thor04105/init.json
index 2839e8f6347c7dcbebc501d59fd507b078e4b8e6..a1cec0ed5da144e17130a2134cb7d9d4dd270252 100644
--- a/ai2thor/tasks/ai2thor04105/init.json
+++ b/ai2thor/tasks/ai2thor04105/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan311",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04105/task.json b/ai2thor/tasks/ai2thor04105/task.json
index 4fe5df62c078c27efbca996c70ab2f6cd6248665..e35f7b6371390666f6938a229a27205f21a52137 100644
--- a/ai2thor/tasks/ai2thor04105/task.json
+++ b/ai2thor/tasks/ai2thor04105/task.json
@@ -5,22 +5,22 @@
   "golden_actions": {
     "steps": 16,
     "actions": [
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "ToggleObjectOn(CellPhone)",
-      "ToggleObjectOn(Television)",
-      "ToggleObjectOn(Laptop)",
-      "Done"
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "ChangeState(CellPhone, on)",
+      "ChangeState(Television, on)",
+      "ChangeState(Laptop, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan311",
@@ -55,4 +55,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment (Game/Sports)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04106/init.json b/ai2thor/tasks/ai2thor04106/init.json
index 8291d3964bd621f89b05e899aa6eade7462e46f0..9ab713d4446711c0ef829c0ae4b98753654b8c9b 100644
--- a/ai2thor/tasks/ai2thor04106/init.json
+++ b/ai2thor/tasks/ai2thor04106/init.json
@@ -1,40 +1,40 @@
 {
   "scene": "FloorPlan311",
   "actions": [
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
     "DirtyObject(Mug)",
     "DirtyObject(Bowl)",
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04106/task.json b/ai2thor/tasks/ai2thor04106/task.json
index d394ea5d28791b9045cf7d2edd7fd7b766b19cd7..bbf487bf9ae1c3edf3b69fc0ea1530884134dd93 100644
--- a/ai2thor/tasks/ai2thor04106/task.json
+++ b/ai2thor/tasks/ai2thor04106/task.json
@@ -5,9 +5,9 @@
   "golden_actions": {
     "steps": 3,
     "actions": [
-      "CleanObject(Mug)",
-      "CleanObject(Bowl)",
-      "Done"
+      "Manipulate(Mug, clean)",
+      "Manipulate(Bowl, clean)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan311",
diff --git a/ai2thor/tasks/ai2thor04107/init.json b/ai2thor/tasks/ai2thor04107/init.json
index be5aefefa3d2f280397d19e050a3805365cb35b9..fb827574c9af1cb3067e9612b78995089521e2ef 100644
--- a/ai2thor/tasks/ai2thor04107/init.json
+++ b/ai2thor/tasks/ai2thor04107/init.json
@@ -1,29 +1,29 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "RotateLeft(90)",
-    "RotateLeft(90)",
-    "MoveBack(0.25)",
-    "MoveRight(0.25)",
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "LookDown",
-    "Done"
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Rotate(left, 90)",
+    "Rotate(left, 90)",
+    "Move(backward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04107/task.json b/ai2thor/tasks/ai2thor04107/task.json
index d85993f1806068ff22c5efd2d8b0a0c07e6970b4..fd18236e4fb685753b5fbd291a1635dcdcf8e680 100644
--- a/ai2thor/tasks/ai2thor04107/task.json
+++ b/ai2thor/tasks/ai2thor04107/task.json
@@ -5,20 +5,20 @@
   "golden_actions": {
     "steps": 14,
     "actions": [
-      "MoveLeft(0.25)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "PickupObject(AlarmClock)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "RotateLeft(90)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.25)",
-      "PutObject(Desk)",
-      "Done"
+      "Move(left, 0.25)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Pick(AlarmClock)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.25)",
+      "Place(Desk)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -39,4 +39,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04108/task.json b/ai2thor/tasks/ai2thor04108/task.json
index e01dd362a95a4d65bf807d5cbf8c152c78dc96bc..b9800aa6425a1d99ffa09e45e67256e8ca097fef 100644
--- a/ai2thor/tasks/ai2thor04108/task.json
+++ b/ai2thor/tasks/ai2thor04108/task.json
@@ -5,18 +5,18 @@
   "golden_actions": {
     "steps": 12,
     "actions": [
-      "MoveRight(0.5)",
-      "MoveRight(0.25)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "ToggleObjectOn(Laptop)",
-      "MoveLeft(0.5)",
-      "OpenObject(Book)",
-      "Done"
+      "Move(right, 0.5)",
+      "Move(right, 0.25)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "ChangeState(Laptop, on)",
+      "Move(left, 0.5)",
+      "Manipulate(Book, open)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan311",
@@ -45,4 +45,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Study and Work",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04109/init.json b/ai2thor/tasks/ai2thor04109/init.json
index 42a87cf4fca20df927d5f96185475c91bd2841af..f1c660f34efb15b4ede58f51921acdbf8e345b54 100644
--- a/ai2thor/tasks/ai2thor04109/init.json
+++ b/ai2thor/tasks/ai2thor04109/init.json
@@ -1,23 +1,23 @@
 {
   "scene": "FloorPlan311",
   "actions": [
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveAhead(0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(forward, 0.25)",
     "DirtyObject(Bed)",
-    "RotateRight(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "ToggleObjectOn(Television)",
-    "LookDown",
-    "Done"
+    "Rotate(right, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "ChangeState(Television, on)",
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04109/task.json b/ai2thor/tasks/ai2thor04109/task.json
index c89eb352e6ffeeb161c6ef0f725be4c3915c6289..b0736de24d0d42e0989a41f77882e953c9bd51cd 100644
--- a/ai2thor/tasks/ai2thor04109/task.json
+++ b/ai2thor/tasks/ai2thor04109/task.json
@@ -5,10 +5,10 @@
   "golden_actions": {
     "steps": 4,
     "actions": [
-      "ToggleObjectOff(Television)",
-      "RotateLeft(90)",
-      "CleanObject(Bed)",
-      "Done"
+      "ChangeState(Television, off)",
+      "Rotate(left, 90)",
+      "Manipulate(Bed, clean)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan311",
@@ -36,5 +36,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level2 Interaction"
-
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04110/init.json b/ai2thor/tasks/ai2thor04110/init.json
index 0b943347901b06065703f247e0fec62535005fab..221339b85e22dd8dceb64d821d22672404d1707c 100644
--- a/ai2thor/tasks/ai2thor04110/init.json
+++ b/ai2thor/tasks/ai2thor04110/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan310",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04110/task.json b/ai2thor/tasks/ai2thor04110/task.json
index 5c4bcb6546127a52b31b812421ae6a0243fb1e95..77f3ab0474b978790f5dfb59bc589a4fc46cb557 100644
--- a/ai2thor/tasks/ai2thor04110/task.json
+++ b/ai2thor/tasks/ai2thor04110/task.json
@@ -5,10 +5,10 @@
   "golden_actions": {
     "steps": 4,
     "actions": [
-      "MoveAhead(1.0)",
-      "ToggleObjectOn(Laptop)",
-      "ToggleObjectOn(CellPhone)",
-      "Done"
+      "Move(forward, 1.0)",
+      "ChangeState(Laptop, on)",
+      "ChangeState(CellPhone, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan310",
@@ -36,4 +36,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Study and Work",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04112/init.json b/ai2thor/tasks/ai2thor04112/init.json
index 81b59c8bc3667b76361b4607d126b32d354e6bd3..9f98459b98eea056530016a2aac8547256a9930a 100644
--- a/ai2thor/tasks/ai2thor04112/init.json
+++ b/ai2thor/tasks/ai2thor04112/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan303",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04112/task.json b/ai2thor/tasks/ai2thor04112/task.json
index f685e178dd36c6f6f86ff4fff4a920ad18aaa886..c40715de36432cd3bc6832a750f7b63822cf8558 100644
--- a/ai2thor/tasks/ai2thor04112/task.json
+++ b/ai2thor/tasks/ai2thor04112/task.json
@@ -5,21 +5,21 @@
   "golden_actions": {
     "steps": 15,
     "actions": [
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "PickupObject(Pencil)",
-      "PutObject(Mug)",
-      "PickupObject(Mug)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "PutObject(Shelf)",
-      "Done"
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Pick(Pencil)",
+      "Place(Mug)",
+      "Pick(Mug)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Place(Shelf)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan303",
@@ -46,4 +46,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04113/task.json b/ai2thor/tasks/ai2thor04113/task.json
index 35c01d088ee89c783af9629f8e6a8b540dd38811..b5fa7184819eeb17ac2d26eb97a64d3cfbc5a1ca 100644
--- a/ai2thor/tasks/ai2thor04113/task.json
+++ b/ai2thor/tasks/ai2thor04113/task.json
@@ -5,20 +5,20 @@
   "golden_actions": {
     "steps": 14,
     "actions": [
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "RotateRight(90)",
-      "MoveLeft(0.5)",
-      "OpenObject(Fridge)",
-      "PickupObject(Tomato)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveAhead(0.25)",
-      "PutObject(CounterTop)",
-      "SliceObject(Tomato)",
-      "Done"
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Rotate(right, 90)",
+      "Move(left, 0.5)",
+      "Manipulate(Fridge, open)",
+      "Pick(Tomato)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.25)",
+      "Place(CounterTop)",
+      "Manipulate(Tomato, slice)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan3",
@@ -46,4 +46,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04114/init.json b/ai2thor/tasks/ai2thor04114/init.json
index 7cca03b72bd6d51344bf73368b18952cc0a2b55f..41a404f0667b63c30b964e956d95c91021ca1d41 100644
--- a/ai2thor/tasks/ai2thor04114/init.json
+++ b/ai2thor/tasks/ai2thor04114/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan23",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04114/task.json b/ai2thor/tasks/ai2thor04114/task.json
index 4ff2f349ae2a81615661b324a9ee0a5a88c67801..ee3bbbd16eba10e4e4a90bea163d0b97af6a0fcd 100644
--- a/ai2thor/tasks/ai2thor04114/task.json
+++ b/ai2thor/tasks/ai2thor04114/task.json
@@ -5,17 +5,17 @@
   "golden_actions": {
     "steps": 11,
     "actions": [
-      "RotateLeft(90)",
-      "PickupObject(Bowl)",
-      "MoveLeft(1.0)",
-      "MoveLeft(0.5)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "PutObject(CounterTop)",
-      "Done"
+      "Rotate(left, 90)",
+      "Pick(Bowl)",
+      "Move(left, 1.0)",
+      "Move(left, 0.5)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Place(CounterTop)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan23",
@@ -35,4 +35,4 @@
   "max_steps": 100,
   "alfred_task_type": "pick_cool_then_place_in_recep",
   "original_path": "pick_cool_then_place_in_recep-Bowl-None-DiningTable-23/trial_T20190908_140248_782127"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04115/init.json b/ai2thor/tasks/ai2thor04115/init.json
index c172167c89545bbdd9bc32504a343d5dd9172c27..56799ba7aadd508357c5778ce95d1561e54e017f 100644
--- a/ai2thor/tasks/ai2thor04115/init.json
+++ b/ai2thor/tasks/ai2thor04115/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan323",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04115/task.json b/ai2thor/tasks/ai2thor04115/task.json
index bb54cc656a5877cbbd33c932f8382611dd9ea394..8502496cf5f2c946cd110b77425dd46a657d89d5 100644
--- a/ai2thor/tasks/ai2thor04115/task.json
+++ b/ai2thor/tasks/ai2thor04115/task.json
@@ -5,24 +5,24 @@
   "golden_actions": {
     "steps": 18,
     "actions": [
-      "MoveLeft(0.25)",
-      "RotateLeft(90)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "PickupObject(Mug)",
-      "MoveBack(1.0)",
-      "MoveBack(1.0)",
-      "RotateLeft(90)",
-      "MoveAhead(0.5)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "PutObject(Desk)",
-      "Done"
+      "Move(left, 0.25)",
+      "Rotate(left, 90)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Pick(Mug)",
+      "Move(backward, 1.0)",
+      "Move(backward, 1.0)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.5)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Place(Desk)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan323",
@@ -43,4 +43,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Study and Work",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04116/init.json b/ai2thor/tasks/ai2thor04116/init.json
index ea543d673500e5ce84fff78d83b0c7ac4d9fba1b..04e2405f3e7417ecec521ce75606eca37bbcdd7d 100644
--- a/ai2thor/tasks/ai2thor04116/init.json
+++ b/ai2thor/tasks/ai2thor04116/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan6",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04116/task.json b/ai2thor/tasks/ai2thor04116/task.json
index e610141c763c63eb8924beaee4ebc478f6f071dd..02de829353ac1a954a8ed5ff7251624de6978cb9 100644
--- a/ai2thor/tasks/ai2thor04116/task.json
+++ b/ai2thor/tasks/ai2thor04116/task.json
@@ -5,23 +5,23 @@
   "golden_actions": {
     "steps": 17,
     "actions": [
-      "RotateRight(90)",
-      "SliceObject(Bread)",
-      "PickupObject(Bread)",
-      "MoveLeft(1.0)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "MoveLeft(0.5)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "OpenObject(Microwave)",
-      "RotateLeft(90)",
-      "MoveRight(0.5)",
-      "PutObject(Microwave)",
-      "CloseObject(Microwave)",
-      "ToggleObjectOn(Microwave)",
-      "Done"
+      "Rotate(right, 90)",
+      "Manipulate(Bread, slice)",
+      "Pick(Bread)",
+      "Move(left, 1.0)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Move(left, 0.5)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Manipulate(Microwave, open)",
+      "Rotate(left, 90)",
+      "Move(right, 0.5)",
+      "Place(Microwave)",
+      "Manipulate(Microwave, close)",
+      "ChangeState(Microwave, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan6",
@@ -55,4 +55,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04117/init.json b/ai2thor/tasks/ai2thor04117/init.json
index b7c3ad2b26b0243b83bc3dd4f1a9f00439b1c57e..1e31aa7a5c4f7f0097708eea76cd4a0ce98b2d01 100644
--- a/ai2thor/tasks/ai2thor04117/init.json
+++ b/ai2thor/tasks/ai2thor04117/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan25",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04117/task.json b/ai2thor/tasks/ai2thor04117/task.json
index 20c178074a5e86865915105a0d545d7f652c042d..380c6031fc54b895693aa85b5a9e4fa248da6a2b 100644
--- a/ai2thor/tasks/ai2thor04117/task.json
+++ b/ai2thor/tasks/ai2thor04117/task.json
@@ -5,15 +5,15 @@
   "golden_actions": {
     "steps": 9,
     "actions": [
-      "MoveBack(0.25)",
-      "PickupObject(Knife)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "PutObject(Pot)",
-      "Done"
+      "Move(backward, 0.25)",
+      "Pick(Knife)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "Place(Pot)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan25",
diff --git a/ai2thor/tasks/ai2thor04118/init.json b/ai2thor/tasks/ai2thor04118/init.json
index f7013f7ce576689c94e2346518f29e83da5c586d..8a2a6c530e5e69d86f9ec1610ee08f7a700a1e06 100644
--- a/ai2thor/tasks/ai2thor04118/init.json
+++ b/ai2thor/tasks/ai2thor04118/init.json
@@ -1,36 +1,36 @@
 {
   "scene": "FloorPlan213",
   "actions": [
-    "RotateLeft(90)",
-    "RotateLeft(90)",
-    "RotateRight(90)",
-    "RotateRight(90)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveAhead(0.25)",
-    "MoveRight(0.25)",
-    "MoveRight(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveLeft(0.25)",
-    "MoveBack(0.25)",
-    "LookDown",
-    "Done"
+    "Rotate(left, 90)",
+    "Rotate(left, 90)",
+    "Rotate(right, 90)",
+    "Rotate(right, 90)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(forward, 0.25)",
+    "Move(right, 0.25)",
+    "Move(right, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(left, 0.25)",
+    "Move(backward, 0.25)",
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04118/task.json b/ai2thor/tasks/ai2thor04118/task.json
index 275db9e0b0322cc51fce68c7eb6ff263912112cc..7c9b5d72262f2e23faa4eddc1de500a0de95073e 100644
--- a/ai2thor/tasks/ai2thor04118/task.json
+++ b/ai2thor/tasks/ai2thor04118/task.json
@@ -5,18 +5,18 @@
   "golden_actions": {
     "steps": 12,
     "actions": [
-      "PickupObject(KeyChain)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveRight(0.5)",
-      "MoveAhead(0.5)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveLeft(0.25)",
-      "PutObject(Sofa)",
-      "Done"
+      "Pick(KeyChain)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(right, 0.5)",
+      "Move(forward, 0.5)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(left, 0.25)",
+      "Place(Sofa)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan213",
@@ -37,4 +37,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04119/init.json b/ai2thor/tasks/ai2thor04119/init.json
index d8cf62ba539472002b1b32bacdf81b63941a77e7..75e7e8c9a9f7bd45f4ead9763dcf4eb4c8d45a18 100644
--- a/ai2thor/tasks/ai2thor04119/init.json
+++ b/ai2thor/tasks/ai2thor04119/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan217",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04119/task.json b/ai2thor/tasks/ai2thor04119/task.json
index 5f455a216a7a8c205d702c24f963fb13cb173149..c3e99a9ed370e081a169718bd844c5d695a2bf03 100644
--- a/ai2thor/tasks/ai2thor04119/task.json
+++ b/ai2thor/tasks/ai2thor04119/task.json
@@ -5,29 +5,29 @@
   "golden_actions": {
     "steps": 23,
     "actions": [
-      "RotateLeft(90)",
-      "MoveLeft(0.25)",
-      "RotateLeft(90)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.5)",
-      "MoveRight(0.25)",
-      "PickupObject(CreditCard)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(0.25)",
-      "PutObject(Box)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "RotateRight(90)",
-      "MoveLeft(0.25)",
-      "MoveBack(0.25)",
-      "PickupObject(KeyChain)",
-      "MoveLeft(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.5)",
-      "PutObject(Box)",
-      "Done"
+      "Rotate(left, 90)",
+      "Move(left, 0.25)",
+      "Rotate(left, 90)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.5)",
+      "Move(right, 0.25)",
+      "Pick(CreditCard)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.25)",
+      "Place(Box)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Rotate(right, 90)",
+      "Move(left, 0.25)",
+      "Move(backward, 0.25)",
+      "Pick(KeyChain)",
+      "Move(left, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.5)",
+      "Place(Box)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan217",
@@ -54,4 +54,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04120/init.json b/ai2thor/tasks/ai2thor04120/init.json
index d8cf62ba539472002b1b32bacdf81b63941a77e7..75e7e8c9a9f7bd45f4ead9763dcf4eb4c8d45a18 100644
--- a/ai2thor/tasks/ai2thor04120/init.json
+++ b/ai2thor/tasks/ai2thor04120/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan217",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04120/task.json b/ai2thor/tasks/ai2thor04120/task.json
index c1902b2b8bbcf23b36881b2194d04c24a535453d..77a30c314dcac29fa596095efe6348a3cf8b86ab 100644
--- a/ai2thor/tasks/ai2thor04120/task.json
+++ b/ai2thor/tasks/ai2thor04120/task.json
@@ -5,25 +5,25 @@
   "golden_actions": {
     "steps": 19,
     "actions": [
-      "RotateRight(90)",
-      "MoveRight(0.5)",
-      "MoveAhead(0.5)",
-      "ToggleObjectOff(FloorLamp)",
-      "RotateLeft(90)",
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "MoveLeft(0.25)",
-      "ToggleObjectOff(LightSwitch)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "ToggleObjectOff(DeskLamp)",
-      "Done"
+      "Rotate(right, 90)",
+      "Move(right, 0.5)",
+      "Move(forward, 0.5)",
+      "ChangeState(FloorLamp, off)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(left, 0.25)",
+      "ChangeState(LightSwitch, off)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "ChangeState(DeskLamp, off)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan217",
@@ -58,4 +58,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04220/init.json b/ai2thor/tasks/ai2thor04220/init.json
index fc8182097610456b307f3720fa1330f89d0846da..c3feb152f3b1ea7410bd1ee0ab976916ac3b8859 100644
--- a/ai2thor/tasks/ai2thor04220/init.json
+++ b/ai2thor/tasks/ai2thor04220/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan320",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor04220/task.json b/ai2thor/tasks/ai2thor04220/task.json
index fd9e744ee6cad749694fe43cbebdf0958c598120..6ba8a3d8b78839f965f7070cc790ef4837255d8b 100644
--- a/ai2thor/tasks/ai2thor04220/task.json
+++ b/ai2thor/tasks/ai2thor04220/task.json
@@ -5,18 +5,18 @@
   "golden_actions": {
     "steps": 12,
     "actions": [
-      "MoveRight(0.25)",
-      "ToggleObjectOn(CellPhone)",
-      "PickupObject(CellPhone)",
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveLeft(0.25)",
-      "MoveAhead(0.25)",
-      "RotateLeft(90)",
-      "CleanObject(Bed)",
-      "PutObject(Bed)",
-      "Done"
+      "Move(right, 0.25)",
+      "ChangeState(CellPhone, on)",
+      "Pick(CellPhone)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(left, 0.25)",
+      "Move(forward, 0.25)",
+      "Rotate(left, 90)",
+      "Manipulate(Bed, clean)",
+      "Place(Bed)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan320",
@@ -49,4 +49,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3 Hybrid"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05075/task.json b/ai2thor/tasks/ai2thor05075/task.json
index 021389410d0027562154aaa0824855ed1c5e3fc3..52bac09a670f04d60718b5eabedab92d7f0a6b45 100644
--- a/ai2thor/tasks/ai2thor05075/task.json
+++ b/ai2thor/tasks/ai2thor05075/task.json
@@ -5,12 +5,12 @@
   "golden_actions": {
     "steps": 6,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "ToggleObjectOn(Faucet)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "ChangeState(Faucet, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan17",
@@ -30,4 +30,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05076/task.json b/ai2thor/tasks/ai2thor05076/task.json
index b32b59b8bce1533a0ee40a1db2076ff001f4fdb8..7dcdcd1199ffb6dc4716eed540cc137fe954087a 100644
--- a/ai2thor/tasks/ai2thor05076/task.json
+++ b/ai2thor/tasks/ai2thor05076/task.json
@@ -5,12 +5,12 @@
   "golden_actions": {
     "steps": 6,
     "actions": [
-      "RotateRight(90)",
-      "MoveRight(1.0)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.5)",
-      "SliceObject(Lettuce)",
-      "Done"
+      "Rotate(right, 90)",
+      "Move(right, 1.0)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.5)",
+      "Manipulate(Lettuce, slice)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan17",
@@ -30,4 +30,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05077/init.json b/ai2thor/tasks/ai2thor05077/init.json
index 1c53be58fc31e7cb5744fd2a2357f0aad8526519..2e929443d13f9766a86dd83debc10b1d9e1b688f 100644
--- a/ai2thor/tasks/ai2thor05077/init.json
+++ b/ai2thor/tasks/ai2thor05077/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan17",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05077/task.json b/ai2thor/tasks/ai2thor05077/task.json
index 459ad74a2451d856bc51363e9f7b128749d3f24e..b3b2bb6c9187f31a3ff345353f25c5fd8921d29e 100644
--- a/ai2thor/tasks/ai2thor05077/task.json
+++ b/ai2thor/tasks/ai2thor05077/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveRight(0.5)",
-      "BreakObject(Plate)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(right, 0.5)",
+      "Manipulate(Plate, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan17",
@@ -31,4 +31,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05078/task.json b/ai2thor/tasks/ai2thor05078/task.json
index 6a27f70055bce4dd2599348edccf9201a00b93a2..162bd962e708ffa002b5e54a6d0a54b405042efc 100644
--- a/ai2thor/tasks/ai2thor05078/task.json
+++ b/ai2thor/tasks/ai2thor05078/task.json
@@ -5,12 +5,12 @@
   "golden_actions": {
     "steps": 6,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "FillObjectWithLiquid(Pot, water)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Manipulate(Pot, water, fillwithliquid)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan17",
@@ -31,4 +31,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05079/init.json b/ai2thor/tasks/ai2thor05079/init.json
index ab5a3270a0936793c8877836d421a82fcf6efe09..b382c4eb1bfb8e94f3f249ae8e3bd8dbaed0b0b8 100644
--- a/ai2thor/tasks/ai2thor05079/init.json
+++ b/ai2thor/tasks/ai2thor05079/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan18",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05079/task.json b/ai2thor/tasks/ai2thor05079/task.json
index 122cba753349833270aade550daaff42f8963171..67eef58c703e521bd934abde84d5fd581fadc7ec 100644
--- a/ai2thor/tasks/ai2thor05079/task.json
+++ b/ai2thor/tasks/ai2thor05079/task.json
@@ -5,14 +5,14 @@
   "golden_actions": {
     "steps": 8,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveRight(0.5)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.25)",
-      "ToggleObjectOn(CoffeeMachine)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(right, 0.5)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.25)",
+      "ChangeState(CoffeeMachine, on)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan18",
@@ -33,4 +33,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05080/init.json b/ai2thor/tasks/ai2thor05080/init.json
index ec991f26ad83e2a1a112f6a8a3b6ae45f3eda8d2..d15d05e0a414cdccff6593f72035158085001507 100644
--- a/ai2thor/tasks/ai2thor05080/init.json
+++ b/ai2thor/tasks/ai2thor05080/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan20",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05080/task.json b/ai2thor/tasks/ai2thor05080/task.json
index 17a8544891c3c71b463ede1283dbf06d5042f6ba..edf6e633069f22e4d1db91a9c095c1e4ff2af07a 100644
--- a/ai2thor/tasks/ai2thor05080/task.json
+++ b/ai2thor/tasks/ai2thor05080/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "RotateLeft(90)",
-      "FillObjectWithLiquid(Cup, coffee)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Rotate(left, 90)",
+      "Manipulate(Cup, coffee, fillwithliquid)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan20",
@@ -32,4 +32,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Daily Household (Kitchen/Bedroom)",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05501/init.json b/ai2thor/tasks/ai2thor05501/init.json
index d756ac6c49b6e51499812afc0e796d4051f6e359..571031d41c8c98a234ba3da2b6939a48671940bf 100644
--- a/ai2thor/tasks/ai2thor05501/init.json
+++ b/ai2thor/tasks/ai2thor05501/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan302",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05501/task.json b/ai2thor/tasks/ai2thor05501/task.json
index 3ecc58e49d2a9ac18048c81c09d0ccc39d7ae33a..8bf0373e3c0eb5fec450e71834d205946a2aeecd 100644
--- a/ai2thor/tasks/ai2thor05501/task.json
+++ b/ai2thor/tasks/ai2thor05501/task.json
@@ -1,32 +1,31 @@
 {
-    "task_id": "ai2thor05501",
-    "task_name": "Pick up the tennis racket on the ground",
-    "instruction": "I want to exercise now, could you please hand me the tennis racket on the floor near the table?",
-    "golden_actions": {
-      "steps": 3,
-      "actions": [
-        "RotateRight(90)",
-        "PickupObject(TennisRacket)",
-        "Done"
-        ]
-    },
-    "scene": "FloorPlan302",
-    "target_object_types": [
-      "TennisRacket"
-    ],
-    "success_conditions": [
-      {
-        "type": "object_state",
-        "object_type": "TennisRacket",
-        "field": "isPickedUp",
-        "value": true
-      }
-    ],
-    "success_logic": "OR",
-    "target_description": "I want to exercise now, could you please hand me the tennis racket on the floor near the table?",
-    "max_steps": 50,
-    "Evaluation_Type": "Conditional",
-    "Category": "Entertainment",
-    "Level":"Level3"
-  }
-  
\ No newline at end of file
+  "task_id": "ai2thor05501",
+  "task_name": "Pick up the tennis racket on the ground",
+  "instruction": "I want to exercise now, could you please hand me the tennis racket on the floor near the table?",
+  "golden_actions": {
+    "steps": 3,
+    "actions": [
+      "Rotate(right, 90)",
+      "Pick(TennisRacket)",
+      "EndTask(success)"
+    ]
+  },
+  "scene": "FloorPlan302",
+  "target_object_types": [
+    "TennisRacket"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "TennisRacket",
+      "field": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "OR",
+  "target_description": "I want to exercise now, could you please hand me the tennis racket on the floor near the table?",
+  "max_steps": 50,
+  "Evaluation_Type": "Conditional",
+  "Category": "Entertainment",
+  "Level": "Level3"
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05502/task.json b/ai2thor/tasks/ai2thor05502/task.json
index 4e2749076c2d1432c485ad1e77e58ddb9959d1c1..b39c5584021eaf821f3c68b595f3eaa586adad04 100644
--- a/ai2thor/tasks/ai2thor05502/task.json
+++ b/ai2thor/tasks/ai2thor05502/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "MoveAhead(0.25)",
-      "LookDown",
-      "PickupObject(BaseballBat)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "BreakObject(Mirror)",
-      "Done"
+      "Move(forward, 0.25)",
+      "Tilt(down, 30)",
+      "Pick(BaseballBat)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Manipulate(Mirror, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan329",
@@ -39,4 +39,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05503/task.json b/ai2thor/tasks/ai2thor05503/task.json
index 8fd56e82b5eb24626bbf2bd7379e25fde2fcd040..2452de6584e8d2508cb27809b1924a31ea2d287a 100644
--- a/ai2thor/tasks/ai2thor05503/task.json
+++ b/ai2thor/tasks/ai2thor05503/task.json
@@ -5,16 +5,16 @@
   "golden_actions": {
     "steps": 10,
     "actions": [
-      "MoveAhead(1.0)",
-      "RotateRight(90)",
-      "MoveAhead(0.25)",
-      "PickupObject(BaseballBat)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.25)",
-      "BreakObject(Laptop)",
-      "Done"
+      "Move(forward, 1.0)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.25)",
+      "Pick(BaseballBat)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.25)",
+      "Manipulate(Laptop, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan327",
@@ -42,4 +42,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05504/task.json b/ai2thor/tasks/ai2thor05504/task.json
index d7e699602388cf77f7fed1b4e3e8d098dc33b808..f5a65d8f12f1a2987bcef6b3b3a3344e0eaa4c70 100644
--- a/ai2thor/tasks/ai2thor05504/task.json
+++ b/ai2thor/tasks/ai2thor05504/task.json
@@ -5,16 +5,16 @@
   "golden_actions": {
     "steps": 10,
     "actions": [
-      "RotateRight(90)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "LookDown",
-      "PickupObject(BasketBall)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "BreakObject(CellPhone)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Tilt(down, 30)",
+      "Pick(BasketBall)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Manipulate(CellPhone, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan327",
@@ -42,4 +42,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05505/init.json b/ai2thor/tasks/ai2thor05505/init.json
index 10c5ac009cc7d241c23b1bb1cb0e53c56c849ddb..24deb9741c03786eceff5266f44e5bf5d228937f 100644
--- a/ai2thor/tasks/ai2thor05505/init.json
+++ b/ai2thor/tasks/ai2thor05505/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan326",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05505/task.json b/ai2thor/tasks/ai2thor05505/task.json
index dafc7ee03141d9afb4ebad22899afe231a3ac06f..f7970044d31491370948bda771b13d0ddc0b3b14 100644
--- a/ai2thor/tasks/ai2thor05505/task.json
+++ b/ai2thor/tasks/ai2thor05505/task.json
@@ -5,15 +5,15 @@
   "golden_actions": {
     "steps": 9,
     "actions": [
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(1.0)",
-      "RotateRight(90)",
-      "MoveAhead(1.0)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PickupObject(TennisRacket)",
-      "Done"
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 1.0)",
+      "Rotate(right, 90)",
+      "Move(forward, 1.0)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Pick(TennisRacket)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan326",
@@ -34,4 +34,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05506/init.json b/ai2thor/tasks/ai2thor05506/init.json
index 30dfdce8d7acd8e61940997b13da081af04e171c..f28ac604a46ce4d08630765226b39997d0f39410 100644
--- a/ai2thor/tasks/ai2thor05506/init.json
+++ b/ai2thor/tasks/ai2thor05506/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan324",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05506/task.json b/ai2thor/tasks/ai2thor05506/task.json
index c6e16c2c3df3c7bbf21d8fe5900edd700b6a7fbf..54279c2d324cdfad35494140a96a6bc6e0353f66 100644
--- a/ai2thor/tasks/ai2thor05506/task.json
+++ b/ai2thor/tasks/ai2thor05506/task.json
@@ -5,17 +5,17 @@
   "golden_actions": {
     "steps": 11,
     "actions": [
-      "RotateLeft(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "RotateLeft(90)",
-      "MoveAhead(1.0)",
-      "RotateRight(90)",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PickupObject(TennisRacket)",
-      "CleanObject(Bed)",
-      "Done"
+      "Rotate(left, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Rotate(left, 90)",
+      "Move(forward, 1.0)",
+      "Rotate(right, 90)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Pick(TennisRacket)",
+      "Manipulate(Bed, clean)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan324",
@@ -43,4 +43,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05507/init.json b/ai2thor/tasks/ai2thor05507/init.json
index 6354c8e42bef47de3db2f7ac89065b2e1a8f7f8a..607259c5f1d5f39fdfd08cbfb115878d276aea1e 100644
--- a/ai2thor/tasks/ai2thor05507/init.json
+++ b/ai2thor/tasks/ai2thor05507/init.json
@@ -1,9 +1,9 @@
 {
   "scene": "FloorPlan320",
   "actions": [
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "MoveBack(0.25)",
-    "Done"
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "Move(backward, 0.25)",
+    "EndTask(success)"
   ]
 }
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05507/task.json b/ai2thor/tasks/ai2thor05507/task.json
index c04a3014c9cb0ee1dd76b42e9dbb754f116673d8..c267533f010395064fb785e039ed6d75fbba66f1 100644
--- a/ai2thor/tasks/ai2thor05507/task.json
+++ b/ai2thor/tasks/ai2thor05507/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "LookDown",
-      "MoveAhead(0.5)",
-      "MoveAhead(0.25)",
-      "PickupObject(BasketBall)",
-      "RotateLeft(90)",
-      "BreakObject(Mirror)",
-      "Done"
+      "Tilt(down, 30)",
+      "Move(forward, 0.5)",
+      "Move(forward, 0.25)",
+      "Pick(BasketBall)",
+      "Rotate(left, 90)",
+      "Manipulate(Mirror, break)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan320",
@@ -39,4 +39,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "Entertainment",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05508/init.json b/ai2thor/tasks/ai2thor05508/init.json
index 15b9de2b540afbd23d09c60b4be23a12aa036924..5fd242859b64d478001ffa1bcdddf1db81277824 100644
--- a/ai2thor/tasks/ai2thor05508/init.json
+++ b/ai2thor/tasks/ai2thor05508/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan304",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05508/task.json b/ai2thor/tasks/ai2thor05508/task.json
index 94a0800195456169ffb5192fca7962d23d75aca5..19676476755362c1de4fa65a8a108412bdd408c8 100644
--- a/ai2thor/tasks/ai2thor05508/task.json
+++ b/ai2thor/tasks/ai2thor05508/task.json
@@ -5,13 +5,13 @@
   "golden_actions": {
     "steps": 7,
     "actions": [
-      "MoveAhead(0.5)",
-      "PickupObject(Pillow)",
-      "MoveRight(0.25)",
-      "MoveAhead(0.25)",
-      "MoveRight(0.5)",
-      "CleanObject(Bed)",
-      "Done"
+      "Move(forward, 0.5)",
+      "Pick(Pillow)",
+      "Move(right, 0.25)",
+      "Move(forward, 0.25)",
+      "Move(right, 0.5)",
+      "Manipulate(Bed, clean)",
+      "EndTask(success)"
     ]
   },
   "scene": "FloorPlan304",
@@ -39,4 +39,4 @@
   "Evaluation_Type": "Conditional",
   "Category": "DailyHousehold",
   "Level": "Level3"
-}
+}
\ No newline at end of file
diff --git a/ai2thor/tasks/ai2thor05509/init.json b/ai2thor/tasks/ai2thor05509/init.json
index 15b9de2b540afbd23d09c60b4be23a12aa036924..5fd242859b64d478001ffa1bcdddf1db81277824 100644
--- a/ai2thor/tasks/ai2thor05509/init.json
+++ b/ai2thor/tasks/ai2thor05509/init.json
@@ -1,7 +1,7 @@
 {
   "scene": "FloorPlan304",
   "actions": [
-    "LookDown",
-    "Done"
+    "Tilt(down, 30)",
+    "EndTask(success)"
   ]
-}
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00517/task.json b/virtualhome/tasks/carla00517/task.json
index 51a89b422cc64ffc00ee75fff16f9621e26f9e18..c25a76269bb15b1c992b7cd682759582ba62265c 100644
--- a/virtualhome/tasks/carla00517/task.json
+++ b/virtualhome/tasks/carla00517/task.json
@@ -9,16 +9,16 @@
   "golden_actions": {
     "steps": 10,
     "actions": [
-      "TurnRight",
-      "TurnRight",
-      "TurnRight",
-      "TurnRight",
-      "TurnRight",
-      "TurnRight",
-      "WalkForward(distance=10)",
-      "WalkForward(distance=10)",
-      "WalkForward(distance=10)",
-      "Done"
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 10.0)",
+      "Move(forward, 10.0)",
+      "Move(forward, 10.0)",
+      "EndTask(success)"
     ]
   },
   "scene": "Town02",
diff --git a/virtualhome/tasks/carla00518/task.json b/virtualhome/tasks/carla00518/task.json
index a521be081cbfade46aae51fc9f04dba1a3ceef8b..8751b9ba46b278365ec83b43a9ce81c2043fcc9d 100644
--- a/virtualhome/tasks/carla00518/task.json
+++ b/virtualhome/tasks/carla00518/task.json
@@ -9,19 +9,19 @@
   "golden_actions": {
     "steps": 13,
     "actions": [
-      "TurnLeft",
-      "TurnLeft",
-      "TurnLeft",
-      "TurnLeft",
-      "TurnLeft",
-      "TurnLeft",
-      "WalkForward(distance=10)",
-      "WalkForward(distance=10)",
-      "TurnRight",
-      "TurnRight",
-      "TurnRight",
-      "WalkForward(distance=10)",
-      "Done"
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Rotate(left, 90)",
+      "Move(forward, 10.0)",
+      "Move(forward, 10.0)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Rotate(right, 90)",
+      "Move(forward, 10.0)",
+      "EndTask(success)"
     ]
   },
   "scene": "Town02",