Add files using upload-large-folder tool

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the small black stapler with metal core to the Gray mat with the left arm",
+    "Lift the curved black stapler and drop it onto Gray mat",
+    "Pick up the stapler with silver staple tray with the left arm and set it on Gray",
+    "Grab the black stapler with curved top, place it on the Gray mat",
+    "Relocate the handheld black stapler to the Gray colored mat",
+    "Relocate the stapler with silver staple tray to the Gray mat.",
+    "With the left arm, move the compact black stapler to the Gray mat",
+    "With the left arm, position the curved black stapler on the Gray mat",
+    "Transfer the black smooth-textured stapler to the Gray colored mat.",
+    "Shift the black stapler with rectangular base to the Gray mat",
+    "Position the black stapler with smooth finish on the Gray mat.",
+    "Stick the stapler with silver staple tray onto the Gray colored mat.",
+    "Set the black stapler with smooth finish down on the Gray mat",
+    "Pick the stapler with silver inner plates using the left arm and move it to Gray mat.",
+    "Use the left arm and place the black stapler with smooth finish on Gray mat.",
+    "Place the small black stapler with metal core onto the Gray colored mat",
+    "Stick the black stapler with curved top on the Gray mat.",
+    "Move the curved black stapler to the Gray mat.",
+    "Use the left arm to grab the black stapler with curved top and place it on Gray mat",
+    "the left arm grabs the black stapler with shiny interior and sets it on Gray mat.",
+    "Set the black stapler with shiny interior onto the Gray colored mat.",
+    "Transfer the stapler with silver inner plates to the Gray mat",
+    "Move the black stapler with shiny interior with the left arm to the Gray mat",
+    "Shift the black stapler with rectangular base manually to the Gray mat",
+    "Drop the stapler with silver inner plates onto the Gray mat.",
+    "Pick the black stapler with curved top with the left arm and place it on Gray mat",
+    "Set the black stapler with rectangular base on the Gray mat with the left arm.",
+    "Pick the black stapler with rectangular base up and position it on Gray mat",
+    "Use the left arm to shift the curved black stapler onto the Gray mat",
+    "the left arm transfers the black stapler with smooth finish to the Gray mat.",
+    "Lift the compact black stapler to the Gray mat using the left arm",
+    "Carry the black stapler with shiny interior to the Gray colored mat",
+    "Set the black stapler with curved top down on the Gray mat",
+    "Grab the stapler with silver staple tray with the left arm and drop it on Gray mat.",
+    "Pick up the black stapler with smooth finish and place it on Gray mat",
+    "Place the black stapler with shiny interior onto the Gray colored mat.",
+    "Grab the compact black stapler and stick it onto Gray mat",
+    "Slide the stapler with silver inner plates to the Gray colored mat.",
+    "the left arm moves the curved black stapler to the Gray mat.",
+    "Use the left arm to place the black stapler with curved top onto the Gray mat",
+    "Drop the stapler with silver staple tray carefully on the Gray mat",
+    "Grab the stapler with silver staple tray using the left arm and shift it to Gray",
+    "Grab the small black stapler with metal core using the left arm and set it on Gray mat.",
+    "Grab the black stapler with smooth finish and drop it on Gray mat.",
+    "Put the black stapler with curved top on the Gray mat",
+    "Carry the black stapler with rectangular base and drop it onto the Gray mat",
+    "Using the left arm, set the handheld black stapler on the Gray colored mat",
+    "the left arm places the black stapler with smooth finish on the Gray mat.",
+    "Place the compact black stapler on the Gray mat using the left arm",
+    "Move the black stapler with rectangular base to the Gray mat with the left arm",
+    "Lift the stapler with silver staple tray and drop it onto Gray mat",
+    "Pick up the black stapler for joining pages with the left arm and set it on Gray",
+    "Grab the black stapler with shiny interior, place it on the Gray mat",
+    "Relocate the stapler with silver staple tray to the Gray colored mat",
+    "Relocate the handheld black stapler to the Gray mat.",
+    "With the left arm, move the curved black stapler to the Gray mat",
+    "With the left arm, position the black stapler with rectangular base on the Gray mat",
+    "Transfer the handheld black stapler to the Gray colored mat.",
+    "Shift the black stapler with smooth finish to the Gray mat",
+    "Position the compact black stapler on the Gray mat.",
+    "Stick the black stapler with smooth finish onto the Gray colored mat.",
+    "Set the black stapler with shiny interior down on the Gray mat",
+    "Pick the black stapler with smooth finish using the left arm and move it to Gray mat.",
+    "Use the left arm and place the black stapler with rectangular base on Gray mat.",
+    "Place the black stapler with shiny interior onto the Gray colored mat",
+    "Stick the handheld black stapler on the Gray mat.",
+    "Move the black stapler with curved top to the Gray mat.",
+    "Use the left arm to grab the black stapler with curved top and place it on Gray mat",
+    "the left arm grabs the black stapler with rectangular base and sets it on Gray mat.",
+    "Set the small black stapler with metal core onto the Gray colored mat.",
+    "Transfer the black stapler with rectangular base to the Gray mat",
+    "Move the compact black stapler with the left arm to the Gray mat",
+    "Shift the stapler with silver staple tray manually to the Gray mat",
+    "Drop the compact black stapler onto the Gray mat.",
+    "Pick the curved black stapler with the left arm and place it on Gray mat",
+    "Set the curved black stapler on the Gray mat with the left arm.",
+    "Pick the stapler with silver inner plates up and position it on Gray mat",
+    "Use the left arm to shift the black stapler with rectangular base onto the Gray mat",
+    "the left arm transfers the black stapler with curved top to the Gray mat.",
+    "Lift the black smooth-textured stapler to the Gray mat using the left arm",
+    "Carry the stapler with silver inner plates to the Gray colored mat",
+    "Set the black stapler with curved top down on the Gray mat",
+    "Grab the compact black stapler with the left arm and drop it on Gray mat.",
+    "Pick up the black stapler with smooth finish and place it on Gray mat",
+    "Place the black stapler with rectangular base onto the Gray colored mat.",
+    "Grab the black stapler for joining pages and stick it onto Gray mat",
+    "Slide the small black stapler with metal core to the Gray colored mat.",
+    "the left arm moves the black stapler with smooth finish to the Gray mat.",
+    "Use the left arm to place the black stapler with curved top onto the Gray mat",
+    "Drop the handheld black stapler carefully on the Gray mat",
+    "Grab the black smooth-textured stapler using the left arm and shift it to Gray",
+    "Grab the handheld black stapler using the left arm and set it on Gray mat.",
+    "Grab the black stapler with shiny interior and drop it on Gray mat.",
+    "Put the small black stapler with metal core on the Gray mat",
+    "Carry the stapler with silver staple tray and drop it onto the Gray mat",
+    "Using the left arm, set the small black stapler with metal core on the Gray colored mat",
+    "the left arm places the stapler with silver inner plates on the Gray mat.",
+    "Place the small black stapler with metal core on the Gray mat using the left arm",
+    "Move the black smooth-textured stapler to the Gray mat with the left arm",
+    "Lift the black stapler with smooth finish and drop it onto Gray mat"
+  ],
+  "unseen": [
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the black stapler on the Gray mat",
+    "Grab the palm-sized black stapler and set it on Gray mat",
+    "Move the black stapler to the Gray colored mat",
+    "Place the black stapler on the Gray colored mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat.",
+    "Move the palm-sized black stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the black stapler to Gray mat",
+    "Use the left arm to move the black stapler to the Gray mat",
+    "Place the black stapler on the Gray colored mat.",
+    "Place the palm-sized black stapler on the Gray mat",
+    "Grab the black stapler and set it on Gray mat",
+    "Move the palm-sized black stapler to the Gray colored mat",
+    "Place the metal and plastic stapler on the Gray colored mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat.",
+    "Move the palm-sized black stapler to the Gray mat",
+    "Move the metal and plastic stapler to the Gray mat.",
+    "Use the left arm to move the palm-sized black stapler to Gray mat",
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the palm-sized black stapler on the Gray mat",
+    "Grab the palm-sized black stapler and set it on Gray mat",
+    "Move the black stapler to the Gray colored mat",
+    "Place the metal and plastic stapler on the Gray colored mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat.",
+    "Move the black stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the black stapler to Gray mat",
+    "Use the left arm to move the black stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the black stapler on the Gray mat",
+    "Grab the metal and plastic stapler and set it on Gray mat",
+    "Move the palm-sized black stapler to the Gray colored mat",
+    "Place the black stapler on the Gray colored mat.",
+    "Use the left arm to move the palm-sized black stapler to Gray mat.",
+    "Move the metal and plastic stapler to the Gray mat",
+    "Move the metal and plastic stapler to the Gray mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat",
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the metal and plastic stapler on the Gray mat",
+    "Grab the metal and plastic stapler and set it on Gray mat",
+    "Move the metal and plastic stapler to the Gray colored mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Use the left arm to move the black stapler to Gray mat.",
+    "Move the palm-sized black stapler to the Gray mat",
+    "Move the metal and plastic stapler to the Gray mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat",
+    "Use the left arm to move the palm-sized black stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the metal and plastic stapler on the Gray mat",
+    "Grab the palm-sized black stapler and set it on Gray mat",
+    "Move the palm-sized black stapler to the Gray colored mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat.",
+    "Move the palm-sized black stapler to the Gray mat",
+    "Move the metal and plastic stapler to the Gray mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat",
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the black stapler on the Gray colored mat.",
+    "Place the black stapler on the Gray mat",
+    "Grab the palm-sized black stapler and set it on Gray mat",
+    "Move the black stapler to the Gray colored mat",
+    "Place the black stapler on the Gray colored mat.",
+    "Use the left arm to move the palm-sized black stapler to Gray mat.",
+    "Move the metal and plastic stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the black stapler to Gray mat",
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the palm-sized black stapler on the Gray mat",
+    "Grab the metal and plastic stapler and set it on Gray mat",
+    "Move the palm-sized black stapler to the Gray colored mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Use the left arm to move the black stapler to Gray mat.",
+    "Move the black stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat",
+    "Use the left arm to move the palm-sized black stapler to the Gray mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Place the black stapler on the Gray mat",
+    "Grab the metal and plastic stapler and set it on Gray mat",
+    "Move the black stapler to the Gray colored mat",
+    "Place the palm-sized black stapler on the Gray colored mat.",
+    "Use the left arm to move the metal and plastic stapler to Gray mat.",
+    "Move the black stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the black stapler to Gray mat",
+    "Use the left arm to move the metal and plastic stapler to the Gray mat",
+    "Place the metal and plastic stapler on the Gray colored mat.",
+    "Place the palm-sized black stapler on the Gray mat",
+    "Grab the metal and plastic stapler and set it on Gray mat",
+    "Move the palm-sized black stapler to the Gray colored mat",
+    "Place the metal and plastic stapler on the Gray colored mat.",
+    "Use the left arm to move the palm-sized black stapler to Gray mat.",
+    "Move the palm-sized black stapler to the Gray mat",
+    "Move the palm-sized black stapler to the Gray mat.",
+    "Use the left arm to move the black stapler to Gray mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the manual blue stapler to the Magenta mat using the right arm",
+    "Move the stapler with smooth blue finish to the Magenta mat with the right arm",
+    "Use the right arm to place the curved blue and silver stapler onto the Magenta mat",
+    "Pick the plastic stapler with metal on base up and position it on Magenta mat",
+    "Move the stapler with curved blue top with the right arm to the Magenta mat",
+    "Lift the blue plastic stapler with silver metal and drop it onto Magenta mat",
+    "Set the blue stapler down on the Magenta mat",
+    "Carry the compact stapler with smooth surface and drop it onto the Magenta mat",
+    "Pick up the plastic stapler with metal on base and place it on Magenta mat",
+    "Use the right arm to shift the blue plastic stapler with silver metal onto the Magenta mat",
+    "Grab the blue plastic stapler with silver metal with the right arm and drop it on Magenta mat.",
+    "Use the right arm and place the blue plastic stapler with silver metal on Magenta mat.",
+    "Relocate the curved blue and silver stapler to the Magenta colored mat",
+    "Put the compact stapler with smooth surface on the Magenta mat",
+    "Stick the stapler with smooth blue finish on the Magenta mat.",
+    "Grab the blue stapler with ergonomic curve and stick it onto Magenta mat",
+    "Using the right arm, set the stapler with curved blue top on the Magenta colored mat",
+    "Place the manual blue stapler onto the Magenta colored mat.",
+    "Grab the metallic stapler with blue cover using the right arm and set it on Magenta mat.",
+    "Grab the manual blue stapler, place it on the Magenta mat",
+    "Carry the stapler with curved blue top to the Magenta colored mat",
+    "Use the right arm to grab the blue plastic stapler with silver metal and place it on Magenta mat",
+    "Slide the metallic stapler with blue cover to the Magenta colored mat.",
+    "With the right arm, move the compact stapler with smooth surface to the Magenta mat",
+    "the right arm transfers the blue stapler to the Magenta mat.",
+    "the right arm moves the manual blue stapler to the Magenta mat.",
+    "Pick the metallic stapler with blue cover with the right arm and place it on Magenta mat",
+    "Place the blue stapler onto the Magenta colored mat",
+    "Shift the metallic stapler with blue cover to the Magenta mat",
+    "Set the blue stapler onto the Magenta colored mat.",
+    "the right arm grabs the blue stapler with shiny silver parts and sets it on Magenta mat.",
+    "Shift the curved blue and silver stapler manually to the Magenta mat",
+    "Grab the handheld blue and silver stapler using the right arm and shift it to Magenta",
+    "Stick the manual blue stapler onto the Magenta colored mat.",
+    "Transfer the stapler with smooth blue finish to the Magenta mat",
+    "Pick up the handheld blue and silver stapler with the right arm and set it on Magenta",
+    "the right arm places the compact stapler with smooth surface on the Magenta mat.",
+    "Pick the stapler with curved blue top using the right arm and move it to Magenta mat.",
+    "Drop the stapler with smooth blue finish carefully on the Magenta mat",
+    "With the right arm, position the blue plastic stapler with silver metal on the Magenta mat",
+    "Grab the stapler with smooth blue finish and drop it on Magenta mat.",
+    "Set the stapler with smooth blue finish on the Magenta mat with the right arm.",
+    "Place the handheld blue and silver stapler on the Magenta mat using the right arm",
+    "Drop the stapler with smooth blue finish onto the Magenta mat.",
+    "Relocate the handheld blue and silver stapler to the Magenta mat.",
+    "Set the handheld blue and silver stapler down on the Magenta mat",
+    "Position the curved blue and silver stapler on the Magenta mat.",
+    "Move the blue plastic stapler with silver metal to the Magenta mat.",
+    "Transfer the blue stapler to the Magenta colored mat.",
+    "Lift the handheld blue and silver stapler to the Magenta mat using the right arm",
+    "Move the compact stapler with smooth surface to the Magenta mat with the right arm",
+    "Use the right arm to place the blue stapler onto the Magenta mat",
+    "Pick the handheld blue and silver stapler up and position it on Magenta mat",
+    "Move the stapler with smooth blue finish with the right arm to the Magenta mat",
+    "Lift the handheld blue and silver stapler and drop it onto Magenta mat",
+    "Set the blue plastic stapler with silver metal down on the Magenta mat",
+    "Carry the compact stapler with smooth surface and drop it onto the Magenta mat",
+    "Pick up the blue stapler with shiny silver parts and place it on Magenta mat",
+    "Use the right arm to shift the blue plastic stapler with silver metal onto the Magenta mat",
+    "Grab the manual blue stapler with the right arm and drop it on Magenta mat.",
+    "Use the right arm and place the stapler with curved blue top on Magenta mat.",
+    "Relocate the blue stapler with shiny silver parts to the Magenta colored mat",
+    "Put the curved blue and silver stapler on the Magenta mat",
+    "Stick the blue stapler with ergonomic curve on the Magenta mat.",
+    "Grab the stapler with curved blue top and stick it onto Magenta mat",
+    "Using the right arm, set the blue plastic stapler with silver metal on the Magenta colored mat",
+    "Place the handheld blue and silver stapler onto the Magenta colored mat.",
+    "Grab the metallic stapler with blue cover using the right arm and set it on Magenta mat.",
+    "Grab the blue stapler with shiny silver parts, place it on the Magenta mat",
+    "Carry the blue stapler with shiny silver parts to the Magenta colored mat",
+    "Use the right arm to grab the compact stapler with smooth surface and place it on Magenta mat",
+    "Slide the curved blue and silver stapler to the Magenta colored mat.",
+    "With the right arm, move the manual blue stapler to the Magenta mat",
+    "the right arm transfers the handheld blue and silver stapler to the Magenta mat.",
+    "the right arm moves the blue stapler with ergonomic curve to the Magenta mat.",
+    "Pick the stapler with curved blue top with the right arm and place it on Magenta mat",
+    "Place the blue stapler with shiny silver parts onto the Magenta colored mat",
+    "Shift the blue stapler with shiny silver parts to the Magenta mat",
+    "Set the blue stapler onto the Magenta colored mat.",
+    "the right arm grabs the manual blue stapler and sets it on Magenta mat.",
+    "Shift the stapler with curved blue top manually to the Magenta mat",
+    "Grab the blue plastic stapler with silver metal using the right arm and shift it to Magenta",
+    "Stick the blue stapler with ergonomic curve onto the Magenta colored mat.",
+    "Transfer the stapler with smooth blue finish to the Magenta mat",
+    "Pick up the plastic stapler with metal on base with the right arm and set it on Magenta",
+    "the right arm places the compact stapler with smooth surface on the Magenta mat.",
+    "Pick the blue plastic stapler with silver metal using the right arm and move it to Magenta mat.",
+    "Drop the blue plastic stapler with silver metal carefully on the Magenta mat",
+    "With the right arm, position the compact stapler with smooth surface on the Magenta mat",
+    "Grab the blue plastic stapler with silver metal and drop it on Magenta mat.",
+    "Set the manual blue stapler on the Magenta mat with the right arm.",
+    "Place the handheld blue and silver stapler on the Magenta mat using the right arm",
+    "Drop the blue stapler with shiny silver parts onto the Magenta mat.",
+    "Relocate the handheld blue and silver stapler to the Magenta mat.",
+    "Set the stapler with curved blue top down on the Magenta mat",
+    "Position the manual blue stapler on the Magenta mat.",
+    "Move the blue plastic stapler with silver metal to the Magenta mat.",
+    "Transfer the handheld blue and silver stapler to the Magenta colored mat.",
+    "Lift the blue stapler with shiny silver parts to the Magenta mat using the right arm",
+    "Move the blue stapler with ergonomic curve to the Magenta mat with the right arm"
+  ],
+  "unseen": [
+    "Use the right arm to move the blue stapler for holding papers to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the small hand-sized stapler to the Magenta mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the blue stapler for holding papers to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler for holding papers to the Magenta mat",
+    "Grab the small stapler with simple design and set it on Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat",
+    "Use the right arm to move the small stapler with simple design to Magenta mat.",
+    "Use the right arm to move the small stapler with simple design to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Move the small stapler with simple design to the Magenta colored mat",
+    "Use the right arm to move the small stapler with simple design to the Magenta mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the right arm to move the small stapler with simple design to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the small hand-sized stapler to the Magenta mat",
+    "Grab the small stapler with simple design and set it on Magenta mat",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Use the right arm to move the small stapler with simple design to the Magenta mat",
+    "Grab the small stapler with simple design and set it on Magenta mat",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat.",
+    "Use the right arm to move the small stapler with simple design to Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the small hand-sized stapler to the Magenta mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler for holding papers to the Magenta mat",
+    "Grab the small stapler with simple design and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the blue stapler for holding papers to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler for holding papers to the Magenta mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the small stapler with simple design to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the small hand-sized stapler to the Magenta mat",
+    "Grab the small stapler with simple design and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the small stapler with simple design to Magenta mat.",
+    "Use the right arm to move the small hand-sized stapler to Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Use the right arm to move the small stapler with simple design to the Magenta mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the right arm to move the small stapler with simple design to Magenta mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the handheld blue and silver stapler to the Blue mat.",
+    "Set the plastic stapler with metal on base on the Blue mat with the left arm.",
+    "Shift the manual blue stapler manually to the Blue mat",
+    "Carry the stapler with curved blue top and drop it onto the Blue mat",
+    "Move the blue stapler with shiny silver parts to the Blue mat with the left arm",
+    "Transfer the metallic stapler with blue cover to the Blue colored mat.",
+    "Lift the metallic stapler with blue cover and drop it onto Blue mat",
+    "Using the left arm, set the metallic stapler with blue cover on the Blue colored mat",
+    "Set the metallic stapler with blue cover down on the Blue mat",
+    "the left arm transfers the blue plastic stapler with silver metal to the Blue mat.",
+    "Relocate the metallic stapler with blue cover to the Blue colored mat",
+    "Lift the blue stapler with shiny silver parts to the Blue mat using the left arm",
+    "the left arm grabs the metallic stapler with blue cover and sets it on Blue mat.",
+    "Transfer the metallic stapler with blue cover to the Blue mat",
+    "With the left arm, move the compact stapler with smooth surface to the Blue mat",
+    "Grab the manual blue stapler with the left arm and drop it on Blue mat.",
+    "Drop the handheld blue and silver stapler onto the Blue mat.",
+    "Put the handheld blue and silver stapler on the Blue mat",
+    "Pick the blue plastic stapler with silver metal using the left arm and move it to Blue mat.",
+    "Use the left arm to shift the manual blue stapler onto the Blue mat",
+    "Use the left arm and place the curved blue and silver stapler on Blue mat.",
+    "Grab the stapler with curved blue top using the left arm and set it on Blue mat.",
+    "Grab the blue plastic stapler with silver metal and stick it onto Blue mat",
+    "Pick up the stapler with smooth blue finish with the left arm and set it on Blue",
+    "Stick the plastic stapler with metal on base on the Blue mat.",
+    "Shift the metallic stapler with blue cover to the Blue mat",
+    "Use the left arm to place the blue plastic stapler with silver metal onto the Blue mat",
+    "the left arm places the blue stapler on the Blue mat.",
+    "Grab the plastic stapler with metal on base, place it on the Blue mat",
+    "Set the blue stapler with ergonomic curve onto the Blue colored mat.",
+    "Place the manual blue stapler on the Blue mat using the left arm",
+    "Pick the blue stapler with ergonomic curve with the left arm and place it on Blue mat",
+    "Slide the handheld blue and silver stapler to the Blue colored mat.",
+    "Grab the blue stapler with ergonomic curve using the left arm and shift it to Blue",
+    "the left arm moves the blue plastic stapler with silver metal to the Blue mat.",
+    "Drop the blue stapler with shiny silver parts carefully on the Blue mat",
+    "Relocate the blue stapler to the Blue mat.",
+    "Place the stapler with smooth blue finish onto the Blue colored mat",
+    "Use the left arm to grab the stapler with curved blue top and place it on Blue mat",
+    "With the left arm, position the stapler with curved blue top on the Blue mat",
+    "Stick the curved blue and silver stapler onto the Blue colored mat.",
+    "Set the plastic stapler with metal on base down on the Blue mat",
+    "Carry the handheld blue and silver stapler to the Blue colored mat",
+    "Move the stapler with curved blue top with the left arm to the Blue mat",
+    "Grab the stapler with smooth blue finish and drop it on Blue mat.",
+    "Place the curved blue and silver stapler onto the Blue colored mat.",
+    "Pick the curved blue and silver stapler up and position it on Blue mat",
+    "Pick up the blue plastic stapler with silver metal and place it on Blue mat",
+    "Position the stapler with curved blue top on the Blue mat.",
+    "Move the stapler with smooth blue finish to the Blue mat.",
+    "Set the stapler with curved blue top on the Blue mat with the left arm.",
+    "Shift the stapler with smooth blue finish manually to the Blue mat",
+    "Carry the metallic stapler with blue cover and drop it onto the Blue mat",
+    "Move the blue stapler with shiny silver parts to the Blue mat with the left arm",
+    "Transfer the curved blue and silver stapler to the Blue colored mat.",
+    "Lift the blue stapler with shiny silver parts and drop it onto Blue mat",
+    "Using the left arm, set the plastic stapler with metal on base on the Blue colored mat",
+    "Set the stapler with smooth blue finish down on the Blue mat",
+    "the left arm transfers the stapler with curved blue top to the Blue mat.",
+    "Relocate the blue plastic stapler with silver metal to the Blue colored mat",
+    "Lift the manual blue stapler to the Blue mat using the left arm",
+    "the left arm grabs the handheld blue and silver stapler and sets it on Blue mat.",
+    "Transfer the metallic stapler with blue cover to the Blue mat",
+    "With the left arm, move the plastic stapler with metal on base to the Blue mat",
+    "Grab the metallic stapler with blue cover with the left arm and drop it on Blue mat.",
+    "Drop the curved blue and silver stapler onto the Blue mat.",
+    "Put the stapler with curved blue top on the Blue mat",
+    "Pick the curved blue and silver stapler using the left arm and move it to Blue mat.",
+    "Use the left arm to shift the blue stapler onto the Blue mat",
+    "Use the left arm and place the handheld blue and silver stapler on Blue mat.",
+    "Grab the blue stapler using the left arm and set it on Blue mat.",
+    "Grab the stapler with curved blue top and stick it onto Blue mat",
+    "Pick up the metallic stapler with blue cover with the left arm and set it on Blue",
+    "Stick the blue stapler with shiny silver parts on the Blue mat.",
+    "Shift the stapler with smooth blue finish to the Blue mat",
+    "Use the left arm to place the compact stapler with smooth surface onto the Blue mat",
+    "the left arm places the blue stapler on the Blue mat.",
+    "Grab the blue stapler with ergonomic curve, place it on the Blue mat",
+    "Set the plastic stapler with metal on base onto the Blue colored mat.",
+    "Place the blue plastic stapler with silver metal on the Blue mat using the left arm",
+    "Pick the handheld blue and silver stapler with the left arm and place it on Blue mat",
+    "Slide the stapler with smooth blue finish to the Blue colored mat.",
+    "Grab the manual blue stapler using the left arm and shift it to Blue",
+    "the left arm moves the blue stapler with ergonomic curve to the Blue mat.",
+    "Drop the metallic stapler with blue cover carefully on the Blue mat",
+    "Relocate the blue stapler with ergonomic curve to the Blue mat.",
+    "Place the stapler with curved blue top onto the Blue colored mat",
+    "Use the left arm to grab the metallic stapler with blue cover and place it on Blue mat",
+    "With the left arm, position the blue plastic stapler with silver metal on the Blue mat",
+    "Stick the manual blue stapler onto the Blue colored mat.",
+    "Set the blue stapler with ergonomic curve down on the Blue mat",
+    "Carry the blue stapler with shiny silver parts to the Blue colored mat",
+    "Move the stapler with smooth blue finish with the left arm to the Blue mat",
+    "Grab the compact stapler with smooth surface and drop it on Blue mat.",
+    "Place the blue plastic stapler with silver metal onto the Blue colored mat.",
+    "Pick the manual blue stapler up and position it on Blue mat",
+    "Pick up the plastic stapler with metal on base and place it on Blue mat",
+    "Position the compact stapler with smooth surface on the Blue mat.",
+    "Move the stapler with curved blue top to the Blue mat.",
+    "Set the manual blue stapler on the Blue mat with the left arm."
+  ],
+  "unseen": [
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Use the left arm to move the small stapler with simple design to Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat.",
+    "Use the left arm to move the small stapler with simple design to the Blue mat",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Use the left arm to move the small stapler with simple design to the Blue mat",
+    "Grab the small hand-sized stapler and set it on Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Move the small hand-sized stapler to the Blue colored mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Move the small hand-sized stapler to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Move the small hand-sized stapler to the Blue mat",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Place the blue stapler for holding papers on the Blue mat",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Use the left arm to move the small stapler with simple design to Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Move the small hand-sized stapler to the Blue mat",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Place the blue stapler for holding papers on the Blue mat",
+    "Move the small hand-sized stapler to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Move the small hand-sized stapler to the Blue mat",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the small hand-sized stapler to the Blue colored mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Use the left arm to move the small stapler with simple design to Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat.",
+    "Use the left arm to move the small stapler with simple design to the Blue mat",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat.",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Grab the small hand-sized stapler and set it on Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Place the blue stapler for holding papers on the Blue mat",
+    "Move the small hand-sized stapler to the Blue mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the handheld stapler to the Yellow mat",
+    "Transfer the stapler for fastening papers to the Yellow mat",
+    "Grab the white stapler with rounded design and stick it onto Yellow mat",
+    "Use the left arm to grab the stapler with orange button and place it on Yellow mat",
+    "Grab the stapler for fastening papers and drop it on Yellow mat.",
+    "Place the modern design stapler onto the Yellow colored mat",
+    "Set the white body stapler with accents onto the Yellow colored mat.",
+    "Stick the smooth plastic stapler on the Yellow mat.",
+    "Transfer the paper stapler with silver tray to the Yellow colored mat.",
+    "Put the handheld stapler on the Yellow mat",
+    "Carry the stapler with orange button and drop it onto the Yellow mat",
+    "Pick the stapler with rounded edges up and position it on Yellow mat",
+    "Relocate the white stapler with rounded design to the Yellow mat.",
+    "Pick up the white body stapler with accents with the left arm and set it on Yellow",
+    "Set the modern design stapler down on the Yellow mat",
+    "Using the left arm, set the small office stapler on the Yellow colored mat",
+    "Set the white stapler with rounded design down on the Yellow mat",
+    "the left arm places the white stapler with rounded design on the Yellow mat.",
+    "Place the small office stapler onto the Yellow colored mat.",
+    "Use the left arm and place the white stapler with rounded design on Yellow mat.",
+    "Pick up the small office stapler and place it on Yellow mat",
+    "Stick the small office stapler onto the Yellow colored mat.",
+    "Grab the white body stapler with accents with the left arm and drop it on Yellow mat.",
+    "Drop the paper stapler with silver tray carefully on the Yellow mat",
+    "Carry the smooth plastic stapler to the Yellow colored mat",
+    "Pick the stapler with rounded edges using the left arm and move it to Yellow mat.",
+    "Grab the plastic and metal stapler using the left arm and set it on Yellow mat.",
+    "With the left arm, position the modern design stapler on the Yellow mat",
+    "Place the modern design stapler on the Yellow mat using the left arm",
+    "Lift the plastic and metal stapler and drop it onto Yellow mat",
+    "Set the modern design stapler on the Yellow mat with the left arm.",
+    "Use the left arm to place the small office stapler onto the Yellow mat",
+    "Drop the small office stapler onto the Yellow mat.",
+    "Pick the paper stapler with silver tray with the left arm and place it on Yellow mat",
+    "Move the handheld stapler to the Yellow mat with the left arm",
+    "With the left arm, move the stapler with orange button to the Yellow mat",
+    "Slide the small office stapler to the Yellow colored mat.",
+    "Grab the white stapler with rounded design, place it on the Yellow mat",
+    "the left arm grabs the stapler for fastening papers and sets it on Yellow mat.",
+    "Lift the stapler with orange button to the Yellow mat using the left arm",
+    "Move the stapler for fastening papers with the left arm to the Yellow mat",
+    "the left arm transfers the white body stapler with accents to the Yellow mat.",
+    "Grab the small office stapler using the left arm and shift it to Yellow",
+    "Shift the stapler with rounded edges manually to the Yellow mat",
+    "the left arm moves the stapler with orange top lever to the Yellow mat.",
+    "Move the smooth plastic stapler to the Yellow mat.",
+    "Use the left arm to shift the stapler with orange button onto the Yellow mat",
+    "Relocate the white body stapler with accents to the Yellow colored mat",
+    "Position the stapler with orange top lever on the Yellow mat.",
+    "Shift the white stapler with rounded design to the Yellow mat",
+    "Transfer the stapler with rounded edges to the Yellow mat",
+    "Grab the stapler with orange top lever and stick it onto Yellow mat",
+    "Use the left arm to grab the modern design stapler and place it on Yellow mat",
+    "Grab the stapler with orange top lever and drop it on Yellow mat.",
+    "Place the stapler for fastening papers onto the Yellow colored mat",
+    "Set the stapler for fastening papers onto the Yellow colored mat.",
+    "Stick the handheld stapler on the Yellow mat.",
+    "Transfer the paper stapler with silver tray to the Yellow colored mat.",
+    "Put the smooth plastic stapler on the Yellow mat",
+    "Carry the handheld stapler and drop it onto the Yellow mat",
+    "Pick the white stapler with rounded design up and position it on Yellow mat",
+    "Relocate the paper stapler with silver tray to the Yellow mat.",
+    "Pick up the stapler with orange button with the left arm and set it on Yellow",
+    "Set the stapler with rounded edges down on the Yellow mat",
+    "Using the left arm, set the stapler with orange button on the Yellow colored mat",
+    "Set the small office stapler down on the Yellow mat",
+    "the left arm places the plastic and metal stapler on the Yellow mat.",
+    "Place the stapler with rounded edges onto the Yellow colored mat.",
+    "Use the left arm and place the stapler for fastening papers on Yellow mat.",
+    "Pick up the stapler with orange button and place it on Yellow mat",
+    "Stick the white stapler with rounded design onto the Yellow colored mat.",
+    "Grab the stapler with orange button with the left arm and drop it on Yellow mat.",
+    "Drop the white stapler with rounded design carefully on the Yellow mat",
+    "Carry the smooth plastic stapler to the Yellow colored mat",
+    "Pick the white body stapler with accents using the left arm and move it to Yellow mat.",
+    "Grab the white body stapler with accents using the left arm and set it on Yellow mat.",
+    "With the left arm, position the stapler with orange button on the Yellow mat",
+    "Place the small office stapler on the Yellow mat using the left arm",
+    "Lift the stapler with orange top lever and drop it onto Yellow mat",
+    "Set the stapler with rounded edges on the Yellow mat with the left arm.",
+    "Use the left arm to place the paper stapler with silver tray onto the Yellow mat",
+    "Drop the stapler for fastening papers onto the Yellow mat.",
+    "Pick the handheld stapler with the left arm and place it on Yellow mat",
+    "Move the plastic and metal stapler to the Yellow mat with the left arm",
+    "With the left arm, move the stapler with orange button to the Yellow mat",
+    "Slide the stapler with orange button to the Yellow colored mat.",
+    "Grab the handheld stapler, place it on the Yellow mat",
+    "the left arm grabs the white stapler with rounded design and sets it on Yellow mat.",
+    "Lift the modern design stapler to the Yellow mat using the left arm",
+    "Move the white stapler with rounded design with the left arm to the Yellow mat",
+    "the left arm transfers the white stapler with rounded design to the Yellow mat.",
+    "Grab the white stapler with rounded design using the left arm and shift it to Yellow",
+    "Shift the modern design stapler manually to the Yellow mat",
+    "the left arm moves the stapler with orange button to the Yellow mat.",
+    "Move the paper stapler with silver tray to the Yellow mat.",
+    "Use the left arm to shift the paper stapler with silver tray onto the Yellow mat",
+    "Relocate the small office stapler to the Yellow colored mat",
+    "Position the small office stapler on the Yellow mat.",
+    "Shift the stapler for fastening papers to the Yellow mat",
+    "Transfer the handheld stapler to the Yellow mat"
+  ],
+  "unseen": [
+    "Use the left arm to move the white stapler to Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Move the compact stapler to the Yellow mat",
+    "Use the left arm to move the white stapler to Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Use the left arm to move the compact stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Use the left arm to move the white stapler to Yellow mat.",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the compact stapler to the Yellow colored mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to Yellow mat",
+    "Move the white stapler to the Yellow mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Use the left arm to move the compact stapler to Yellow mat",
+    "Move the white stapler to the Yellow mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Use the left arm to move the compact stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Use the left arm to move the white stapler to Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Move the white stapler to the Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Use the left arm to move the white stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler to the Yellow colored mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Use the left arm to move the compact stapler to Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Use the left arm to move the white stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler to the Yellow colored mat",
+    "Move the compact stapler to the Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Move the compact stapler to the Yellow mat",
+    "Use the left arm to move the white stapler to Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Use the left arm to move the white stapler to Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Use the left arm to move the compact stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Use the left arm to move the white stapler with metal tray to Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the compact stapler to the Yellow colored mat",
+    "Move the white stapler to the Yellow mat",
+    "Use the left arm to move the white stapler to Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Use the left arm to move the compact stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Use the left arm to move the compact stapler to Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the compact stapler to the Yellow colored mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Use the left arm to move the white stapler with metal tray to Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Use the left arm to move the white stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Place the white stapler on the Yellow colored mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the manual blue stapler using the left arm and move it to Blue mat.",
+    "Stick the blue stapler with shiny silver parts onto the Blue colored mat.",
+    "Using the left arm, set the handheld blue and silver stapler on the Blue colored mat",
+    "Lift the manual blue stapler to the Blue mat using the left arm",
+    "Use the left arm to shift the blue stapler with ergonomic curve onto the Blue mat",
+    "Use the left arm to place the manual blue stapler onto the Blue mat",
+    "Put the stapler with curved blue top on the Blue mat",
+    "Stick the curved blue and silver stapler on the Blue mat.",
+    "Grab the blue stapler with shiny silver parts with the left arm and drop it on Blue mat.",
+    "Set the metallic stapler with blue cover down on the Blue mat",
+    "Use the left arm and place the blue stapler with shiny silver parts on Blue mat.",
+    "Relocate the handheld blue and silver stapler to the Blue colored mat",
+    "With the left arm, move the curved blue and silver stapler to the Blue mat",
+    "Pick up the stapler with smooth blue finish with the left arm and set it on Blue",
+    "Drop the blue stapler with shiny silver parts onto the Blue mat.",
+    "Relocate the handheld blue and silver stapler to the Blue mat.",
+    "Move the stapler with curved blue top to the Blue mat.",
+    "Transfer the stapler with curved blue top to the Blue colored mat.",
+    "Place the blue plastic stapler with silver metal onto the Blue colored mat.",
+    "Place the blue stapler with shiny silver parts on the Blue mat using the left arm",
+    "Carry the stapler with curved blue top and drop it onto the Blue mat",
+    "Position the handheld blue and silver stapler on the Blue mat.",
+    "Grab the blue plastic stapler with silver metal, place it on the Blue mat",
+    "the left arm places the compact stapler with smooth surface on the Blue mat.",
+    "Grab the blue stapler and drop it on Blue mat.",
+    "Move the blue plastic stapler with silver metal with the left arm to the Blue mat",
+    "the left arm transfers the blue plastic stapler with silver metal to the Blue mat.",
+    "Set the blue stapler with ergonomic curve onto the Blue colored mat.",
+    "Transfer the manual blue stapler to the Blue mat",
+    "Shift the plastic stapler with metal on base manually to the Blue mat",
+    "Grab the curved blue and silver stapler and stick it onto Blue mat",
+    "Pick up the handheld blue and silver stapler and place it on Blue mat",
+    "Grab the blue stapler with shiny silver parts using the left arm and set it on Blue mat.",
+    "Slide the compact stapler with smooth surface to the Blue colored mat.",
+    "Pick the blue stapler up and position it on Blue mat",
+    "Set the blue plastic stapler with silver metal on the Blue mat with the left arm.",
+    "Lift the blue plastic stapler with silver metal and drop it onto Blue mat",
+    "Shift the blue stapler with shiny silver parts to the Blue mat",
+    "Place the handheld blue and silver stapler onto the Blue colored mat",
+    "the left arm moves the blue stapler with shiny silver parts to the Blue mat.",
+    "Pick the stapler with curved blue top with the left arm and place it on Blue mat",
+    "With the left arm, position the curved blue and silver stapler on the Blue mat",
+    "Move the blue plastic stapler with silver metal to the Blue mat with the left arm",
+    "Use the left arm to grab the blue stapler with shiny silver parts and place it on Blue mat",
+    "Grab the blue plastic stapler with silver metal using the left arm and shift it to Blue",
+    "Set the compact stapler with smooth surface down on the Blue mat",
+    "Carry the stapler with smooth blue finish to the Blue colored mat",
+    "Drop the blue stapler carefully on the Blue mat",
+    "the left arm grabs the stapler with smooth blue finish and sets it on Blue mat.",
+    "Pick the blue stapler with shiny silver parts using the left arm and move it to Blue mat.",
+    "Stick the blue stapler with shiny silver parts onto the Blue colored mat.",
+    "Using the left arm, set the compact stapler with smooth surface on the Blue colored mat",
+    "Lift the stapler with smooth blue finish to the Blue mat using the left arm",
+    "Use the left arm to shift the stapler with curved blue top onto the Blue mat",
+    "Use the left arm to place the blue plastic stapler with silver metal onto the Blue mat",
+    "Put the blue plastic stapler with silver metal on the Blue mat",
+    "Stick the blue stapler with shiny silver parts on the Blue mat.",
+    "Grab the blue stapler with shiny silver parts with the left arm and drop it on Blue mat.",
+    "Set the blue stapler with shiny silver parts down on the Blue mat",
+    "Use the left arm and place the compact stapler with smooth surface on Blue mat.",
+    "Relocate the plastic stapler with metal on base to the Blue colored mat",
+    "With the left arm, move the metallic stapler with blue cover to the Blue mat",
+    "Pick up the blue stapler with shiny silver parts with the left arm and set it on Blue",
+    "Drop the plastic stapler with metal on base onto the Blue mat.",
+    "Relocate the compact stapler with smooth surface to the Blue mat.",
+    "Move the blue stapler with shiny silver parts to the Blue mat.",
+    "Transfer the plastic stapler with metal on base to the Blue colored mat.",
+    "Place the metallic stapler with blue cover onto the Blue colored mat.",
+    "Place the blue plastic stapler with silver metal on the Blue mat using the left arm",
+    "Carry the curved blue and silver stapler and drop it onto the Blue mat",
+    "Position the handheld blue and silver stapler on the Blue mat.",
+    "Grab the stapler with curved blue top, place it on the Blue mat",
+    "the left arm places the blue plastic stapler with silver metal on the Blue mat.",
+    "Grab the curved blue and silver stapler and drop it on Blue mat.",
+    "Move the stapler with smooth blue finish with the left arm to the Blue mat",
+    "the left arm transfers the blue stapler to the Blue mat.",
+    "Set the blue stapler with shiny silver parts onto the Blue colored mat.",
+    "Transfer the plastic stapler with metal on base to the Blue mat",
+    "Shift the metallic stapler with blue cover manually to the Blue mat",
+    "Grab the blue plastic stapler with silver metal and stick it onto Blue mat",
+    "Pick up the blue stapler with shiny silver parts and place it on Blue mat",
+    "Grab the metallic stapler with blue cover using the left arm and set it on Blue mat.",
+    "Slide the blue stapler with shiny silver parts to the Blue colored mat.",
+    "Pick the compact stapler with smooth surface up and position it on Blue mat",
+    "Set the blue stapler with shiny silver parts on the Blue mat with the left arm.",
+    "Lift the metallic stapler with blue cover and drop it onto Blue mat",
+    "Shift the blue plastic stapler with silver metal to the Blue mat",
+    "Place the metallic stapler with blue cover onto the Blue colored mat",
+    "the left arm moves the blue stapler to the Blue mat.",
+    "Pick the handheld blue and silver stapler with the left arm and place it on Blue mat",
+    "With the left arm, position the metallic stapler with blue cover on the Blue mat",
+    "Move the manual blue stapler to the Blue mat with the left arm",
+    "Use the left arm to grab the blue plastic stapler with silver metal and place it on Blue mat",
+    "Grab the compact stapler with smooth surface using the left arm and shift it to Blue",
+    "Set the stapler with curved blue top down on the Blue mat",
+    "Carry the handheld blue and silver stapler to the Blue colored mat",
+    "Drop the stapler with smooth blue finish carefully on the Blue mat",
+    "the left arm grabs the blue stapler with ergonomic curve and sets it on Blue mat.",
+    "Pick the compact stapler with smooth surface using the left arm and move it to Blue mat.",
+    "Stick the blue stapler onto the Blue colored mat."
+  ],
+  "unseen": [
+    "Grab the small hand-sized stapler and set it on Blue mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Move the small hand-sized stapler to the Blue colored mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Move the small stapler with simple design to the Blue colored mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the small hand-sized stapler to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Grab the blue stapler for holding papers and set it on Blue mat",
+    "Place the small hand-sized stapler on the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Use the left arm to move the small stapler with simple design to Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Move the small hand-sized stapler to the Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Move the small hand-sized stapler to the Blue colored mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the small hand-sized stapler to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Grab the small hand-sized stapler and set it on Blue mat",
+    "Place the blue stapler for holding papers on the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Move the blue stapler for holding papers to the Blue mat",
+    "Move the small hand-sized stapler to the Blue colored mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat.",
+    "Grab the small stapler with simple design and set it on Blue mat",
+    "Place the small stapler with simple design on the Blue mat",
+    "Use the left arm to move the small stapler with simple design to the Blue mat",
+    "Use the left arm to move the small hand-sized stapler to Blue mat",
+    "Move the small stapler with simple design to the Blue mat",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Place the small stapler with simple design on the Blue colored mat.",
+    "Move the blue stapler for holding papers to the Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Grab the small hand-sized stapler and set it on Blue mat",
+    "Place the blue stapler for holding papers on the Blue mat",
+    "Use the left arm to move the small stapler with simple design to the Blue mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat",
+    "Move the small hand-sized stapler to the Blue mat",
+    "Move the blue stapler for holding papers to the Blue colored mat",
+    "Use the left arm to move the blue stapler for holding papers to Blue mat.",
+    "Place the blue stapler for holding papers on the Blue colored mat.",
+    "Move the small stapler with simple design to the Blue mat.",
+    "Place the small hand-sized stapler on the Blue colored mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, move the compact office stapler to the Cyan mat",
+    "Use the right arm to grab the stapler with red top and place it on Cyan mat",
+    "the right arm transfers the stapler with metallic staple slot to the Cyan mat.",
+    "Set the small handheld stapler down on the Cyan mat",
+    "Slide the red stapler to the Cyan colored mat.",
+    "Lift the stapler with red top and drop it onto Cyan mat",
+    "Grab the small handheld stapler using the right arm and set it on Cyan mat.",
+    "the right arm places the red stapler on the Cyan mat.",
+    "Grab the red stapler with black base with the right arm and drop it on Cyan mat.",
+    "Stick the office stapler with plastic and metal parts onto the Cyan colored mat.",
+    "Shift the desk stapler with red body manually to the Cyan mat",
+    "Grab the manual stapler with black base using the right arm and shift it to Cyan",
+    "Put the red top black bottom stapler on the Cyan mat",
+    "Place the red plastic stapler with smooth top onto the Cyan colored mat",
+    "Use the right arm to place the red plastic stapler with smooth top onto the Cyan mat",
+    "Place the stapler with red top on the Cyan mat using the right arm",
+    "Set the red top black bottom stapler onto the Cyan colored mat.",
+    "Set the red plastic stapler with smooth top on the Cyan mat with the right arm.",
+    "Move the red stapler with the right arm to the Cyan mat",
+    "Move the stapler for fastening papers to the Cyan mat with the right arm",
+    "Using the right arm, set the small handheld stapler on the Cyan colored mat",
+    "Set the office stapler with plastic and metal parts down on the Cyan mat",
+    "the right arm grabs the compact office stapler and sets it on Cyan mat.",
+    "Pick up the desk stapler with red body and place it on Cyan mat",
+    "Lift the red plastic stapler with smooth top to the Cyan mat using the right arm",
+    "Pick up the red stapler with black base with the right arm and set it on Cyan",
+    "Pick the compact office stapler with the right arm and place it on Cyan mat",
+    "Relocate the stapler for fastening papers to the Cyan colored mat",
+    "Pick the compact office stapler using the right arm and move it to Cyan mat.",
+    "With the right arm, position the red top black bottom stapler on the Cyan mat",
+    "Shift the stapler for fastening papers to the Cyan mat",
+    "Stick the compact office stapler on the Cyan mat.",
+    "Transfer the stapler with metallic staple slot to the Cyan mat",
+    "Grab the manual stapler with black base, place it on the Cyan mat",
+    "Carry the manual stapler with black base to the Cyan colored mat",
+    "Pick the stapler with metallic staple slot up and position it on Cyan mat",
+    "Move the small handheld stapler to the Cyan mat.",
+    "Drop the desk stapler with red body carefully on the Cyan mat",
+    "Use the right arm and place the red plastic stapler with smooth top on Cyan mat.",
+    "Carry the stapler with red top and drop it onto the Cyan mat",
+    "the right arm moves the desk stapler with red body to the Cyan mat.",
+    "Position the stapler with red top on the Cyan mat.",
+    "Drop the compact office stapler onto the Cyan mat.",
+    "Grab the stapler for fastening papers and drop it on Cyan mat.",
+    "Place the small handheld stapler onto the Cyan colored mat.",
+    "Relocate the office stapler with plastic and metal parts to the Cyan mat.",
+    "Grab the desk stapler with red body and stick it onto Cyan mat",
+    "Transfer the red stapler to the Cyan colored mat.",
+    "Use the right arm to shift the red top black bottom stapler onto the Cyan mat",
+    "With the right arm, move the stapler with red top to the Cyan mat",
+    "Use the right arm to grab the stapler with metallic staple slot and place it on Cyan mat",
+    "the right arm transfers the desk stapler with red body to the Cyan mat.",
+    "Set the office stapler with plastic and metal parts down on the Cyan mat",
+    "Slide the desk stapler with red body to the Cyan colored mat.",
+    "Lift the stapler with red top and drop it onto Cyan mat",
+    "Grab the red stapler with black base using the right arm and set it on Cyan mat.",
+    "the right arm places the red plastic stapler with smooth top on the Cyan mat.",
+    "Grab the small handheld stapler with the right arm and drop it on Cyan mat.",
+    "Stick the stapler for fastening papers onto the Cyan colored mat.",
+    "Shift the red stapler with black base manually to the Cyan mat",
+    "Grab the compact office stapler using the right arm and shift it to Cyan",
+    "Put the desk stapler with red body on the Cyan mat",
+    "Place the stapler with red top onto the Cyan colored mat",
+    "Use the right arm to place the office stapler with plastic and metal parts onto the Cyan mat",
+    "Place the stapler with red top on the Cyan mat using the right arm",
+    "Set the red top black bottom stapler onto the Cyan colored mat.",
+    "Set the red stapler on the Cyan mat with the right arm.",
+    "Move the manual stapler with black base with the right arm to the Cyan mat",
+    "Move the stapler with red top to the Cyan mat with the right arm",
+    "Using the right arm, set the red top black bottom stapler on the Cyan colored mat",
+    "Set the red top black bottom stapler down on the Cyan mat",
+    "the right arm grabs the stapler with red top and sets it on Cyan mat.",
+    "Pick up the stapler for fastening papers and place it on Cyan mat",
+    "Lift the red top black bottom stapler to the Cyan mat using the right arm",
+    "Pick up the red top black bottom stapler with the right arm and set it on Cyan",
+    "Pick the red top black bottom stapler with the right arm and place it on Cyan mat",
+    "Relocate the red top black bottom stapler to the Cyan colored mat",
+    "Pick the red stapler using the right arm and move it to Cyan mat.",
+    "With the right arm, position the stapler with metallic staple slot on the Cyan mat",
+    "Shift the stapler with red top to the Cyan mat",
+    "Stick the red stapler on the Cyan mat.",
+    "Transfer the red top black bottom stapler to the Cyan mat",
+    "Grab the office stapler with plastic and metal parts, place it on the Cyan mat",
+    "Carry the red stapler with black base to the Cyan colored mat",
+    "Pick the compact office stapler up and position it on Cyan mat",
+    "Move the stapler with metallic staple slot to the Cyan mat.",
+    "Drop the stapler for fastening papers carefully on the Cyan mat",
+    "Use the right arm and place the red stapler on Cyan mat.",
+    "Carry the office stapler with plastic and metal parts and drop it onto the Cyan mat",
+    "the right arm moves the stapler with red top to the Cyan mat.",
+    "Position the stapler for fastening papers on the Cyan mat.",
+    "Drop the red plastic stapler with smooth top onto the Cyan mat.",
+    "Grab the red stapler with black base and drop it on Cyan mat.",
+    "Place the red stapler with black base onto the Cyan colored mat.",
+    "Relocate the stapler with red top to the Cyan mat.",
+    "Grab the stapler for fastening papers and stick it onto Cyan mat",
+    "Transfer the red stapler with black base to the Cyan colored mat.",
+    "Use the right arm to shift the stapler with red top onto the Cyan mat",
+    "With the right arm, move the stapler with red top to the Cyan mat",
+    "Use the right arm to grab the stapler with metallic staple slot and place it on Cyan mat"
+  ],
+  "unseen": [
+    "Place the red stapler with silver chamber on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the red plastic stapler to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan colored mat",
+    "Place the red stapler with silver chamber on the Cyan colored mat.",
+    "Grab the red plastic stapler and set it on Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan mat",
+    "Move the red stapler with silver chamber to the Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the red stapler with silver chamber to the Cyan colored mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Grab the paper stapler with curved handle and set it on Cyan mat",
+    "Place the red plastic stapler on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat",
+    "Move the red plastic stapler to the Cyan mat.",
+    "Use the right arm to move the red plastic stapler to Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan colored mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Grab the red plastic stapler and set it on Cyan mat",
+    "Place the red plastic stapler on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the red plastic stapler to Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to the Cyan mat",
+    "Move the red plastic stapler to the Cyan colored mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Grab the red stapler with silver chamber and set it on Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat",
+    "Move the red plastic stapler to the Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan colored mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Grab the paper stapler with curved handle and set it on Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan mat",
+    "Move the red plastic stapler to the Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the red plastic stapler to the Cyan colored mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Grab the paper stapler with curved handle and set it on Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the red stapler with silver chamber to the Cyan colored mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Grab the red plastic stapler and set it on Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan mat",
+    "Move the red plastic stapler to the Cyan mat",
+    "Place the red stapler with silver chamber on the Cyan colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat",
+    "Move the red plastic stapler to the Cyan mat.",
+    "Use the right arm to move the red plastic stapler to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan colored mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Grab the red stapler with silver chamber and set it on Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the red plastic stapler on the Cyan colored mat.",
+    "Use the right arm to move the red plastic stapler to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the paper stapler with curved handle to Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to the Cyan mat",
+    "Move the red stapler with silver chamber to the Cyan colored mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Grab the paper stapler with curved handle and set it on Cyan mat",
+    "Place the red plastic stapler on the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan mat.",
+    "Use the right arm to move the red stapler with silver chamber to Cyan mat.",
+    "Use the right arm to move the red plastic stapler to the Cyan mat",
+    "Move the paper stapler with curved handle to the Cyan colored mat",
+    "Place the paper stapler with curved handle on the Cyan colored mat.",
+    "Grab the red stapler with silver chamber and set it on Cyan mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the compact red stapler with silver accents with the left arm and place it on Blue mat",
+    "Grab the compact red stapler with silver accents, place it on the Blue mat",
+    "Transfer the small red stapler to the Blue colored mat.",
+    "Place the stapler with rectangular silver mechanism on the Blue mat using the left arm",
+    "Carry the compact red stapler with silver accents to the Blue colored mat",
+    "Use the left arm to shift the handheld red stapler onto the Blue mat",
+    "Slide the stapler with rectangular silver mechanism to the Blue colored mat.",
+    "Grab the lightweight red stapler and drop it on Blue mat.",
+    "Stick the stapler with rectangular silver mechanism on the Blue mat.",
+    "Relocate the metallic stapler with red body to the Blue colored mat",
+    "Grab the lightweight red stapler with the left arm and drop it on Blue mat.",
+    "Set the compact stapler down on the Blue mat",
+    "Set the compact red stapler with silver accents onto the Blue colored mat.",
+    "Using the left arm, set the stapler in bright red color on the Blue colored mat",
+    "Drop the curved red stapler carefully on the Blue mat",
+    "Lift the stapler with rectangular silver mechanism and drop it onto Blue mat",
+    "With the left arm, move the stapler with rectangular silver mechanism to the Blue mat",
+    "Grab the handheld red stapler and stick it onto Blue mat",
+    "Relocate the metallic stapler with red body to the Blue mat.",
+    "Grab the red stapler using the left arm and set it on Blue mat.",
+    "Shift the stapler in bright red color manually to the Blue mat",
+    "Set the metallic stapler with red body on the Blue mat with the left arm.",
+    "Pick the handheld red stapler using the left arm and move it to Blue mat.",
+    "Use the left arm to place the stapler with rectangular silver mechanism onto the Blue mat",
+    "With the left arm, position the stapler with rectangular silver mechanism on the Blue mat",
+    "Pick the compact stapler up and position it on Blue mat",
+    "Use the left arm to grab the curved red stapler and place it on Blue mat",
+    "the left arm places the metallic stapler with red body on the Blue mat.",
+    "Move the curved red stapler to the Blue mat.",
+    "Set the plastic stapler with metal top down on the Blue mat",
+    "Position the red stapler on the Blue mat.",
+    "Lift the handheld red stapler to the Blue mat using the left arm",
+    "Carry the compact red stapler with silver accents and drop it onto the Blue mat",
+    "Use the left arm and place the lightweight red stapler on Blue mat.",
+    "Pick up the lightweight red stapler with the left arm and set it on Blue",
+    "Stick the compact stapler onto the Blue colored mat.",
+    "Move the compact stapler with the left arm to the Blue mat",
+    "the left arm grabs the compact red stapler with silver accents and sets it on Blue mat.",
+    "the left arm transfers the stapler in bright red color to the Blue mat.",
+    "Grab the handheld red stapler using the left arm and shift it to Blue",
+    "Place the compact red stapler with silver accents onto the Blue colored mat",
+    "Transfer the lightweight red stapler to the Blue mat",
+    "Put the compact red stapler with silver accents on the Blue mat",
+    "Move the handheld red stapler to the Blue mat with the left arm",
+    "Drop the red stapler for binding papers onto the Blue mat.",
+    "Place the red stapler onto the Blue colored mat.",
+    "the left arm moves the small red stapler to the Blue mat.",
+    "Pick up the red stapler for binding papers and place it on Blue mat",
+    "Shift the compact red stapler with silver accents to the Blue mat",
+    "Pick the compact red stapler with silver accents with the left arm and place it on Blue mat",
+    "Grab the handheld red stapler, place it on the Blue mat",
+    "Transfer the stapler in bright red color to the Blue colored mat.",
+    "Place the lightweight red stapler on the Blue mat using the left arm",
+    "Carry the compact red stapler with silver accents to the Blue colored mat",
+    "Use the left arm to shift the compact stapler onto the Blue mat",
+    "Slide the handheld red stapler to the Blue colored mat.",
+    "Grab the stapler with rectangular silver mechanism and drop it on Blue mat.",
+    "Stick the handheld red stapler on the Blue mat.",
+    "Relocate the plastic stapler with metal top to the Blue colored mat",
+    "Grab the lightweight red stapler with the left arm and drop it on Blue mat.",
+    "Set the lightweight red stapler down on the Blue mat",
+    "Set the compact stapler onto the Blue colored mat.",
+    "Using the left arm, set the stapler with rectangular silver mechanism on the Blue colored mat",
+    "Drop the stapler in bright red color carefully on the Blue mat",
+    "Lift the handheld red stapler and drop it onto Blue mat",
+    "With the left arm, move the plastic stapler with metal top to the Blue mat",
+    "Grab the metallic stapler with red body and stick it onto Blue mat",
+    "Relocate the plastic stapler with metal top to the Blue mat.",
+    "Grab the stapler in bright red color using the left arm and set it on Blue mat.",
+    "Shift the lightweight red stapler manually to the Blue mat",
+    "Set the compact stapler on the Blue mat with the left arm.",
+    "Pick the stapler with rectangular silver mechanism using the left arm and move it to Blue mat.",
+    "Use the left arm to place the metallic stapler with red body onto the Blue mat",
+    "With the left arm, position the plastic stapler with metal top on the Blue mat",
+    "Pick the plastic stapler with metal top up and position it on Blue mat",
+    "Use the left arm to grab the compact red stapler with silver accents and place it on Blue mat",
+    "the left arm places the stapler with rectangular silver mechanism on the Blue mat.",
+    "Move the metallic stapler with red body to the Blue mat.",
+    "Set the lightweight red stapler down on the Blue mat",
+    "Position the curved red stapler on the Blue mat.",
+    "Lift the metallic stapler with red body to the Blue mat using the left arm",
+    "Carry the red stapler and drop it onto the Blue mat",
+    "Use the left arm and place the compact red stapler with silver accents on Blue mat.",
+    "Pick up the lightweight red stapler with the left arm and set it on Blue",
+    "Stick the lightweight red stapler onto the Blue colored mat.",
+    "Move the curved red stapler with the left arm to the Blue mat",
+    "the left arm grabs the compact red stapler with silver accents and sets it on Blue mat.",
+    "the left arm transfers the lightweight red stapler to the Blue mat.",
+    "Grab the plastic stapler with metal top using the left arm and shift it to Blue",
+    "Place the metallic stapler with red body onto the Blue colored mat",
+    "Transfer the compact red stapler with silver accents to the Blue mat",
+    "Put the compact stapler on the Blue mat",
+    "Move the curved red stapler to the Blue mat with the left arm",
+    "Drop the red stapler onto the Blue mat.",
+    "Place the stapler in bright red color onto the Blue colored mat.",
+    "the left arm moves the red stapler for binding papers to the Blue mat.",
+    "Pick up the handheld red stapler and place it on Blue mat",
+    "Shift the small red stapler to the Blue mat",
+    "Pick the stapler in bright red color with the left arm and place it on Blue mat",
+    "Grab the stapler in bright red color, place it on the Blue mat"
+  ],
+  "unseen": [
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the stapler with silver metal top to Blue mat",
+    "Move the stapler with silver metal top to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the stapler with silver metal top to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the stapler with silver metal top and set it on Blue mat",
+    "Place the stapler with smooth plastic body on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the stapler with silver metal top to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat",
+    "Move the shiny red plastic stapler to the Blue colored mat",
+    "Move the shiny red plastic stapler to the Blue mat.",
+    "Move the stapler with silver metal top to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Blue mat",
+    "Place the stapler with silver metal top on the Blue mat",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat.",
+    "Use the left arm to move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with silver metal top on the Blue colored mat.",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat",
+    "Move the shiny red plastic stapler to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the shiny red plastic stapler to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Blue mat",
+    "Place the stapler with silver metal top on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat",
+    "Move the stapler with smooth plastic body to the Blue colored mat",
+    "Move the shiny red plastic stapler to the Blue mat.",
+    "Move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with silver metal top on the Blue colored mat.",
+    "Grab the shiny red plastic stapler and set it on Blue mat",
+    "Place the stapler with smooth plastic body on the Blue mat",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat.",
+    "Use the left arm to move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat",
+    "Move the stapler with smooth plastic body to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Grab the shiny red plastic stapler and set it on Blue mat",
+    "Place the stapler with silver metal top on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the stapler with silver metal top to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat",
+    "Move the shiny red plastic stapler to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the shiny red plastic stapler to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Blue mat",
+    "Place the shiny red plastic stapler on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the stapler with smooth plastic body to the Blue mat",
+    "Place the stapler with silver metal top on the Blue colored mat.",
+    "Use the left arm to move the stapler with silver metal top to Blue mat",
+    "Move the shiny red plastic stapler to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Blue mat",
+    "Place the stapler with smooth plastic body on the Blue mat",
+    "Use the left arm to move the stapler with silver metal top to Blue mat.",
+    "Use the left arm to move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat",
+    "Move the stapler with silver metal top to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the stapler with silver metal top to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Blue mat",
+    "Place the stapler with silver metal top on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the shiny red plastic stapler to the Blue mat",
+    "Place the stapler with smooth plastic body on the Blue colored mat.",
+    "Use the left arm to move the stapler with silver metal top to Blue mat",
+    "Move the stapler with smooth plastic body to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the stapler with silver metal top to the Blue mat",
+    "Place the stapler with silver metal top on the Blue colored mat.",
+    "Grab the stapler with silver metal top and set it on Blue mat",
+    "Place the stapler with silver metal top on the Blue mat",
+    "Use the left arm to move the shiny red plastic stapler to Blue mat.",
+    "Use the left arm to move the stapler with smooth plastic body to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Use the left arm to move the stapler with silver metal top to Blue mat",
+    "Move the stapler with silver metal top to the Blue colored mat",
+    "Move the stapler with silver metal top to the Blue mat.",
+    "Move the stapler with silver metal top to the Blue mat",
+    "Place the shiny red plastic stapler on the Blue colored mat.",
+    "Grab the shiny red plastic stapler and set it on Blue mat",
+    "Place the shiny red plastic stapler on the Blue mat",
+    "Use the left arm to move the stapler with smooth plastic body to Blue mat.",
+    "Use the left arm to move the stapler with silver metal top to the Blue mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the stapler with curved blue top onto the Magenta colored mat.",
+    "Use the left arm to shift the blue stapler with ergonomic curve onto the Magenta mat",
+    "Move the compact stapler with smooth surface to the Magenta mat.",
+    "the left arm transfers the curved blue and silver stapler to the Magenta mat.",
+    "Pick up the blue stapler with ergonomic curve and place it on Magenta mat",
+    "Place the metallic stapler with blue cover onto the Magenta colored mat",
+    "Put the metallic stapler with blue cover on the Magenta mat",
+    "Set the blue plastic stapler with silver metal down on the Magenta mat",
+    "the left arm moves the blue stapler with ergonomic curve to the Magenta mat.",
+    "Shift the blue stapler with shiny silver parts to the Magenta mat",
+    "Grab the blue stapler using the left arm and set it on Magenta mat.",
+    "Relocate the blue stapler with ergonomic curve to the Magenta mat.",
+    "Set the metallic stapler with blue cover on the Magenta mat with the left arm.",
+    "Drop the plastic stapler with metal on base onto the Magenta mat.",
+    "Set the curved blue and silver stapler onto the Magenta colored mat.",
+    "Move the blue stapler to the Magenta mat with the left arm",
+    "Relocate the metallic stapler with blue cover to the Magenta colored mat",
+    "Grab the compact stapler with smooth surface and drop it on Magenta mat.",
+    "Slide the blue stapler to the Magenta colored mat.",
+    "Use the left arm to place the blue stapler with shiny silver parts onto the Magenta mat",
+    "Use the left arm to grab the plastic stapler with metal on base and place it on Magenta mat",
+    "Carry the curved blue and silver stapler to the Magenta colored mat",
+    "the left arm grabs the plastic stapler with metal on base and sets it on Magenta mat.",
+    "Use the left arm and place the blue plastic stapler with silver metal on Magenta mat.",
+    "Stick the metallic stapler with blue cover on the Magenta mat.",
+    "Pick the blue stapler with ergonomic curve up and position it on Magenta mat",
+    "Position the curved blue and silver stapler on the Magenta mat.",
+    "Grab the metallic stapler with blue cover using the left arm and shift it to Magenta",
+    "With the left arm, position the stapler with smooth blue finish on the Magenta mat",
+    "Pick the manual blue stapler with the left arm and place it on Magenta mat",
+    "Lift the blue stapler to the Magenta mat using the left arm",
+    "Using the left arm, set the manual blue stapler on the Magenta colored mat",
+    "Carry the stapler with curved blue top and drop it onto the Magenta mat",
+    "Grab the blue stapler and stick it onto Magenta mat",
+    "the left arm places the plastic stapler with metal on base on the Magenta mat.",
+    "Move the handheld blue and silver stapler with the left arm to the Magenta mat",
+    "Grab the metallic stapler with blue cover with the left arm and drop it on Magenta mat.",
+    "Pick up the stapler with curved blue top with the left arm and set it on Magenta",
+    "Lift the stapler with curved blue top and drop it onto Magenta mat",
+    "Pick the blue stapler using the left arm and move it to Magenta mat.",
+    "Drop the plastic stapler with metal on base carefully on the Magenta mat",
+    "Grab the compact stapler with smooth surface, place it on the Magenta mat",
+    "Set the curved blue and silver stapler down on the Magenta mat",
+    "Place the stapler with smooth blue finish onto the Magenta colored mat.",
+    "With the left arm, move the blue stapler with ergonomic curve to the Magenta mat",
+    "Shift the blue stapler manually to the Magenta mat",
+    "Place the blue stapler with shiny silver parts on the Magenta mat using the left arm",
+    "Transfer the blue stapler to the Magenta colored mat.",
+    "Transfer the handheld blue and silver stapler to the Magenta mat",
+    "Stick the stapler with curved blue top onto the Magenta colored mat.",
+    "Use the left arm to shift the plastic stapler with metal on base onto the Magenta mat",
+    "Move the blue stapler to the Magenta mat.",
+    "the left arm transfers the blue stapler with shiny silver parts to the Magenta mat.",
+    "Pick up the plastic stapler with metal on base and place it on Magenta mat",
+    "Place the stapler with curved blue top onto the Magenta colored mat",
+    "Put the metallic stapler with blue cover on the Magenta mat",
+    "Set the plastic stapler with metal on base down on the Magenta mat",
+    "the left arm moves the curved blue and silver stapler to the Magenta mat.",
+    "Shift the plastic stapler with metal on base to the Magenta mat",
+    "Grab the blue stapler using the left arm and set it on Magenta mat.",
+    "Relocate the blue stapler with shiny silver parts to the Magenta mat.",
+    "Set the blue stapler on the Magenta mat with the left arm.",
+    "Drop the curved blue and silver stapler onto the Magenta mat.",
+    "Set the metallic stapler with blue cover onto the Magenta colored mat.",
+    "Move the stapler with curved blue top to the Magenta mat with the left arm",
+    "Relocate the stapler with curved blue top to the Magenta colored mat",
+    "Grab the stapler with smooth blue finish and drop it on Magenta mat.",
+    "Slide the blue plastic stapler with silver metal to the Magenta colored mat.",
+    "Use the left arm to place the handheld blue and silver stapler onto the Magenta mat",
+    "Use the left arm to grab the stapler with curved blue top and place it on Magenta mat",
+    "Carry the stapler with smooth blue finish to the Magenta colored mat",
+    "the left arm grabs the blue stapler and sets it on Magenta mat.",
+    "Use the left arm and place the stapler with smooth blue finish on Magenta mat.",
+    "Stick the blue stapler on the Magenta mat.",
+    "Pick the manual blue stapler up and position it on Magenta mat",
+    "Position the compact stapler with smooth surface on the Magenta mat.",
+    "Grab the stapler with curved blue top using the left arm and shift it to Magenta",
+    "With the left arm, position the manual blue stapler on the Magenta mat",
+    "Pick the blue stapler with ergonomic curve with the left arm and place it on Magenta mat",
+    "Lift the blue plastic stapler with silver metal to the Magenta mat using the left arm",
+    "Using the left arm, set the curved blue and silver stapler on the Magenta colored mat",
+    "Carry the handheld blue and silver stapler and drop it onto the Magenta mat",
+    "Grab the plastic stapler with metal on base and stick it onto Magenta mat",
+    "the left arm places the manual blue stapler on the Magenta mat.",
+    "Move the compact stapler with smooth surface with the left arm to the Magenta mat",
+    "Grab the metallic stapler with blue cover with the left arm and drop it on Magenta mat.",
+    "Pick up the blue stapler with ergonomic curve with the left arm and set it on Magenta",
+    "Lift the manual blue stapler and drop it onto Magenta mat",
+    "Pick the stapler with curved blue top using the left arm and move it to Magenta mat.",
+    "Drop the blue stapler carefully on the Magenta mat",
+    "Grab the curved blue and silver stapler, place it on the Magenta mat",
+    "Set the compact stapler with smooth surface down on the Magenta mat",
+    "Place the handheld blue and silver stapler onto the Magenta colored mat.",
+    "With the left arm, move the stapler with curved blue top to the Magenta mat",
+    "Shift the blue stapler with ergonomic curve manually to the Magenta mat",
+    "Place the stapler with smooth blue finish on the Magenta mat using the left arm",
+    "Transfer the blue plastic stapler with silver metal to the Magenta colored mat.",
+    "Transfer the metallic stapler with blue cover to the Magenta mat",
+    "Stick the plastic stapler with metal on base onto the Magenta colored mat.",
+    "Use the left arm to shift the stapler with curved blue top onto the Magenta mat"
+  ],
+  "unseen": [
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small hand-sized stapler to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta mat",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the small stapler with simple design to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the small stapler with simple design to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the left arm to move the blue stapler for holding papers to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat",
+    "Move the small stapler with simple design to the Magenta mat.",
+    "Use the left arm to move the small stapler with simple design to Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the small hand-sized stapler to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the small stapler with simple design to Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the blue stapler for holding papers to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat.",
+    "Move the small stapler with simple design to the Magenta colored mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Place the small stapler with simple design on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the small hand-sized stapler on the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the small hand-sized stapler to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small stapler with simple design to Magenta mat",
+    "Move the small hand-sized stapler to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Grab the small hand-sized stapler and set it on Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the blue stapler for holding papers on the Magenta colored mat.",
+    "Move the small stapler with simple design to the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to the Magenta mat",
+    "Place the small stapler with simple design on the Magenta mat",
+    "Use the left arm to move the small hand-sized stapler to Magenta mat",
+    "Move the blue stapler for holding papers to the Magenta mat.",
+    "Use the left arm to move the blue stapler for holding papers to Magenta mat.",
+    "Move the blue stapler for holding papers to the Magenta colored mat",
+    "Grab the blue stapler for holding papers and set it on Magenta mat",
+    "Place the small hand-sized stapler on the Magenta colored mat.",
+    "Place the small stapler with simple design on the Magenta colored mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact stapler to the Yellow mat using the right arm",
+    "Slide the stapler in bright red color to the Yellow colored mat.",
+    "Lift the compact red stapler with silver accents and drop it onto Yellow mat",
+    "Pick the plastic stapler with metal top with the right arm and place it on Yellow mat",
+    "the right arm places the metallic stapler with red body on the Yellow mat.",
+    "Place the compact stapler onto the Yellow colored mat",
+    "Move the stapler with rectangular silver mechanism to the Yellow mat.",
+    "Grab the curved red stapler and drop it on Yellow mat.",
+    "Use the right arm and place the red stapler for binding papers on Yellow mat.",
+    "Pick up the red stapler and place it on Yellow mat",
+    "Move the red stapler for binding papers to the Yellow mat with the right arm",
+    "Using the right arm, set the handheld red stapler on the Yellow colored mat",
+    "Grab the lightweight red stapler using the right arm and shift it to Yellow",
+    "Set the red stapler onto the Yellow colored mat.",
+    "the right arm transfers the red stapler for binding papers to the Yellow mat.",
+    "Grab the small red stapler and stick it onto Yellow mat",
+    "Relocate the handheld red stapler to the Yellow mat.",
+    "With the right arm, position the plastic stapler with metal top on the Yellow mat",
+    "Grab the handheld red stapler, place it on the Yellow mat",
+    "Set the stapler in bright red color down on the Yellow mat",
+    "Use the right arm to grab the stapler with rectangular silver mechanism and place it on Yellow mat",
+    "With the right arm, move the handheld red stapler to the Yellow mat",
+    "Carry the small red stapler and drop it onto the Yellow mat",
+    "Drop the red stapler onto the Yellow mat.",
+    "Set the lightweight red stapler down on the Yellow mat",
+    "Pick the compact red stapler with silver accents up and position it on Yellow mat",
+    "Use the right arm to place the small red stapler onto the Yellow mat",
+    "Set the small red stapler on the Yellow mat with the right arm.",
+    "Place the lightweight red stapler onto the Yellow colored mat.",
+    "Transfer the handheld red stapler to the Yellow mat",
+    "Relocate the lightweight red stapler to the Yellow colored mat",
+    "Put the small red stapler on the Yellow mat",
+    "the right arm grabs the compact stapler and sets it on Yellow mat.",
+    "Grab the plastic stapler with metal top with the right arm and drop it on Yellow mat.",
+    "Place the small red stapler on the Yellow mat using the right arm",
+    "Stick the red stapler onto the Yellow colored mat.",
+    "Position the stapler with rectangular silver mechanism on the Yellow mat.",
+    "Shift the stapler in bright red color to the Yellow mat",
+    "Transfer the red stapler to the Yellow colored mat.",
+    "Move the lightweight red stapler with the right arm to the Yellow mat",
+    "Drop the handheld red stapler carefully on the Yellow mat",
+    "Use the right arm to shift the compact stapler onto the Yellow mat",
+    "the right arm moves the red stapler to the Yellow mat.",
+    "Pick the curved red stapler using the right arm and move it to Yellow mat.",
+    "Shift the stapler in bright red color manually to the Yellow mat",
+    "Pick up the red stapler with the right arm and set it on Yellow",
+    "Stick the metallic stapler with red body on the Yellow mat.",
+    "Grab the metallic stapler with red body using the right arm and set it on Yellow mat.",
+    "Carry the stapler with rectangular silver mechanism to the Yellow colored mat",
+    "Lift the red stapler to the Yellow mat using the right arm",
+    "Slide the lightweight red stapler to the Yellow colored mat.",
+    "Lift the metallic stapler with red body and drop it onto Yellow mat",
+    "Pick the red stapler with the right arm and place it on Yellow mat",
+    "the right arm places the lightweight red stapler on the Yellow mat.",
+    "Place the red stapler onto the Yellow colored mat",
+    "Move the compact red stapler with silver accents to the Yellow mat.",
+    "Grab the plastic stapler with metal top and drop it on Yellow mat.",
+    "Use the right arm and place the curved red stapler on Yellow mat.",
+    "Pick up the red stapler and place it on Yellow mat",
+    "Move the compact stapler to the Yellow mat with the right arm",
+    "Using the right arm, set the plastic stapler with metal top on the Yellow colored mat",
+    "Grab the metallic stapler with red body using the right arm and shift it to Yellow",
+    "Set the red stapler onto the Yellow colored mat.",
+    "the right arm transfers the small red stapler to the Yellow mat.",
+    "Grab the stapler with rectangular silver mechanism and stick it onto Yellow mat",
+    "Relocate the red stapler for binding papers to the Yellow mat.",
+    "With the right arm, position the small red stapler on the Yellow mat",
+    "Grab the stapler with rectangular silver mechanism, place it on the Yellow mat",
+    "Set the compact red stapler with silver accents down on the Yellow mat",
+    "Use the right arm to grab the red stapler and place it on Yellow mat",
+    "With the right arm, move the red stapler for binding papers to the Yellow mat",
+    "Carry the handheld red stapler and drop it onto the Yellow mat",
+    "Drop the red stapler onto the Yellow mat.",
+    "Set the curved red stapler down on the Yellow mat",
+    "Pick the small red stapler up and position it on Yellow mat",
+    "Use the right arm to place the small red stapler onto the Yellow mat",
+    "Set the stapler in bright red color on the Yellow mat with the right arm.",
+    "Place the plastic stapler with metal top onto the Yellow colored mat.",
+    "Transfer the red stapler to the Yellow mat",
+    "Relocate the handheld red stapler to the Yellow colored mat",
+    "Put the red stapler on the Yellow mat",
+    "the right arm grabs the metallic stapler with red body and sets it on Yellow mat.",
+    "Grab the compact red stapler with silver accents with the right arm and drop it on Yellow mat.",
+    "Place the curved red stapler on the Yellow mat using the right arm",
+    "Stick the lightweight red stapler onto the Yellow colored mat.",
+    "Position the curved red stapler on the Yellow mat.",
+    "Shift the handheld red stapler to the Yellow mat",
+    "Transfer the red stapler to the Yellow colored mat.",
+    "Move the compact stapler with the right arm to the Yellow mat",
+    "Drop the curved red stapler carefully on the Yellow mat",
+    "Use the right arm to shift the stapler in bright red color onto the Yellow mat",
+    "the right arm moves the handheld red stapler to the Yellow mat.",
+    "Pick the compact red stapler with silver accents using the right arm and move it to Yellow mat.",
+    "Shift the small red stapler manually to the Yellow mat",
+    "Pick up the handheld red stapler with the right arm and set it on Yellow",
+    "Stick the plastic stapler with metal top on the Yellow mat.",
+    "Grab the compact red stapler with silver accents using the right arm and set it on Yellow mat.",
+    "Carry the lightweight red stapler to the Yellow colored mat",
+    "Lift the plastic stapler with metal top to the Yellow mat using the right arm",
+    "Slide the compact red stapler with silver accents to the Yellow colored mat."
+  ],
+  "unseen": [
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the stapler with smooth plastic body on the Yellow colored mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat",
+    "Move the stapler with smooth plastic body to the Yellow colored mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat.",
+    "Place the stapler with smooth plastic body on the Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat.",
+    "Move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to Yellow mat",
+    "Move the stapler with smooth plastic body to the Yellow colored mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat.",
+    "Place the shiny red plastic stapler on the Yellow mat",
+    "Place the stapler with smooth plastic body on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the stapler with silver metal top to the Yellow mat.",
+    "Move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat",
+    "Move the stapler with smooth plastic body to the Yellow colored mat",
+    "Use the right arm to move the stapler with silver metal top to Yellow mat.",
+    "Place the stapler with smooth plastic body on the Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the shiny red plastic stapler to the Yellow mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to Yellow mat",
+    "Move the stapler with smooth plastic body to the Yellow colored mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat.",
+    "Place the stapler with silver metal top on the Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Move the stapler with silver metal top to the Yellow mat.",
+    "Move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat",
+    "Move the stapler with silver metal top to the Yellow colored mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat.",
+    "Place the shiny red plastic stapler on the Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Grab the shiny red plastic stapler and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the stapler with silver metal top to the Yellow mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat",
+    "Move the stapler with silver metal top to the Yellow colored mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat.",
+    "Place the stapler with smooth plastic body on the Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat.",
+    "Move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the stapler with silver metal top to Yellow mat",
+    "Move the stapler with silver metal top to the Yellow colored mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat.",
+    "Place the stapler with smooth plastic body on the Yellow mat",
+    "Place the stapler with smooth plastic body on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the stapler with silver metal top to the Yellow mat.",
+    "Move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat",
+    "Move the stapler with silver metal top to the Yellow colored mat",
+    "Use the right arm to move the stapler with silver metal top to Yellow mat.",
+    "Place the stapler with silver metal top on the Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with smooth plastic body and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the shiny red plastic stapler to the Yellow mat.",
+    "Move the stapler with silver metal top to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat",
+    "Move the stapler with smooth plastic body to the Yellow colored mat",
+    "Use the right arm to move the shiny red plastic stapler to Yellow mat.",
+    "Place the stapler with silver metal top on the Yellow mat",
+    "Place the shiny red plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with silver metal top and set it on Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat.",
+    "Move the shiny red plastic stapler to the Yellow mat.",
+    "Move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the shiny red plastic stapler to the Yellow mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat",
+    "Move the shiny red plastic stapler to the Yellow colored mat",
+    "Use the right arm to move the stapler with smooth plastic body to Yellow mat.",
+    "Place the stapler with smooth plastic body on the Yellow mat",
+    "Place the stapler with silver metal top on the Yellow colored mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the stapler with rounded edges onto the Black colored mat.",
+    "Grab the stapler with rounded edges, place it on the Black mat",
+    "Move the stapler with orange top lever to the Black mat with the right arm",
+    "Relocate the white stapler with rounded design to the Black colored mat",
+    "Lift the stapler with orange top lever to the Black mat using the right arm",
+    "Move the small office stapler with the right arm to the Black mat",
+    "Carry the stapler with orange top lever and drop it onto the Black mat",
+    "Use the right arm to shift the plastic and metal stapler onto the Black mat",
+    "Carry the stapler for fastening papers to the Black colored mat",
+    "the right arm moves the handheld stapler to the Black mat.",
+    "Place the white body stapler with accents on the Black mat using the right arm",
+    "Move the white stapler with rounded design to the Black mat.",
+    "Use the right arm and place the stapler with orange top lever on Black mat.",
+    "the right arm transfers the paper stapler with silver tray to the Black mat.",
+    "Pick the small office stapler with the right arm and place it on Black mat",
+    "Grab the stapler with orange top lever with the right arm and drop it on Black mat.",
+    "Pick up the white body stapler with accents with the right arm and set it on Black",
+    "Grab the white body stapler with accents and stick it onto Black mat",
+    "Use the right arm to place the small office stapler onto the Black mat",
+    "Set the white body stapler with accents down on the Black mat",
+    "Transfer the stapler with orange top lever to the Black colored mat.",
+    "Using the right arm, set the handheld stapler on the Black colored mat",
+    "the right arm grabs the stapler with orange top lever and sets it on Black mat.",
+    "Pick the stapler with orange button up and position it on Black mat",
+    "Lift the modern design stapler and drop it onto Black mat",
+    "the right arm places the plastic and metal stapler on the Black mat.",
+    "Shift the small office stapler to the Black mat",
+    "Slide the stapler with orange top lever to the Black colored mat.",
+    "Put the stapler with orange button on the Black mat",
+    "Drop the white body stapler with accents onto the Black mat.",
+    "Use the right arm to grab the modern design stapler and place it on Black mat",
+    "Grab the handheld stapler and drop it on Black mat.",
+    "Transfer the small office stapler to the Black mat",
+    "Set the small office stapler onto the Black colored mat.",
+    "Pick the stapler with orange top lever using the right arm and move it to Black mat.",
+    "Pick up the stapler for fastening papers and place it on Black mat",
+    "Drop the white stapler with rounded design carefully on the Black mat",
+    "Grab the plastic and metal stapler using the right arm and set it on Black mat.",
+    "Relocate the smooth plastic stapler to the Black mat.",
+    "Shift the paper stapler with silver tray manually to the Black mat",
+    "Set the stapler with orange top lever on the Black mat with the right arm.",
+    "Stick the stapler for fastening papers onto the Black colored mat.",
+    "Stick the stapler for fastening papers on the Black mat.",
+    "With the right arm, position the stapler with orange top lever on the Black mat",
+    "With the right arm, move the white stapler with rounded design to the Black mat",
+    "Place the small office stapler onto the Black colored mat",
+    "Set the white stapler with rounded design down on the Black mat",
+    "Grab the modern design stapler using the right arm and shift it to Black",
+    "Position the stapler with orange top lever on the Black mat.",
+    "Place the handheld stapler onto the Black colored mat.",
+    "Grab the white stapler with rounded design, place it on the Black mat",
+    "Move the stapler with orange button to the Black mat with the right arm",
+    "Relocate the stapler with orange button to the Black colored mat",
+    "Lift the handheld stapler to the Black mat using the right arm",
+    "Move the stapler with rounded edges with the right arm to the Black mat",
+    "Carry the stapler with orange top lever and drop it onto the Black mat",
+    "Use the right arm to shift the stapler with orange button onto the Black mat",
+    "Carry the white stapler with rounded design to the Black colored mat",
+    "the right arm moves the stapler with orange button to the Black mat.",
+    "Place the stapler with rounded edges on the Black mat using the right arm",
+    "Move the paper stapler with silver tray to the Black mat.",
+    "Use the right arm and place the stapler with rounded edges on Black mat.",
+    "the right arm transfers the small office stapler to the Black mat.",
+    "Pick the stapler with rounded edges with the right arm and place it on Black mat",
+    "Grab the handheld stapler with the right arm and drop it on Black mat.",
+    "Pick up the stapler with rounded edges with the right arm and set it on Black",
+    "Grab the white stapler with rounded design and stick it onto Black mat",
+    "Use the right arm to place the white body stapler with accents onto the Black mat",
+    "Set the paper stapler with silver tray down on the Black mat",
+    "Transfer the stapler with orange top lever to the Black colored mat.",
+    "Using the right arm, set the white stapler with rounded design on the Black colored mat",
+    "the right arm grabs the handheld stapler and sets it on Black mat.",
+    "Pick the handheld stapler up and position it on Black mat",
+    "Lift the stapler with orange button and drop it onto Black mat",
+    "the right arm places the modern design stapler on the Black mat.",
+    "Shift the paper stapler with silver tray to the Black mat",
+    "Slide the small office stapler to the Black colored mat.",
+    "Put the handheld stapler on the Black mat",
+    "Drop the stapler for fastening papers onto the Black mat.",
+    "Use the right arm to grab the white stapler with rounded design and place it on Black mat",
+    "Grab the paper stapler with silver tray and drop it on Black mat.",
+    "Transfer the stapler with orange button to the Black mat",
+    "Set the stapler with rounded edges onto the Black colored mat.",
+    "Pick the stapler with rounded edges using the right arm and move it to Black mat.",
+    "Pick up the smooth plastic stapler and place it on Black mat",
+    "Drop the stapler with orange button carefully on the Black mat",
+    "Grab the paper stapler with silver tray using the right arm and set it on Black mat.",
+    "Relocate the small office stapler to the Black mat.",
+    "Shift the stapler with orange top lever manually to the Black mat",
+    "Set the stapler with orange top lever on the Black mat with the right arm.",
+    "Stick the paper stapler with silver tray onto the Black colored mat.",
+    "Stick the white stapler with rounded design on the Black mat.",
+    "With the right arm, position the modern design stapler on the Black mat",
+    "With the right arm, move the white stapler with rounded design to the Black mat",
+    "Place the white body stapler with accents onto the Black colored mat",
+    "Set the handheld stapler down on the Black mat",
+    "Grab the stapler for fastening papers using the right arm and shift it to Black",
+    "Position the smooth plastic stapler on the Black mat.",
+    "Place the white stapler with rounded design onto the Black colored mat.",
+    "Grab the stapler with orange top lever, place it on the Black mat"
+  ],
+  "unseen": [
+    "Place the white stapler on the Black colored mat.",
+    "Place the white stapler with metal tray on the Black mat",
+    "Use the right arm to move the compact stapler to the Black mat",
+    "Grab the white stapler with metal tray and set it on Black mat",
+    "Move the compact stapler to the Black mat.",
+    "Move the compact stapler to the Black mat",
+    "Move the white stapler to the Black colored mat",
+    "Use the right arm to move the compact stapler to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the white stapler to Black mat",
+    "Place the white stapler on the Black colored mat.",
+    "Place the white stapler on the Black mat",
+    "Use the right arm to move the compact stapler to the Black mat",
+    "Grab the compact stapler and set it on Black mat",
+    "Move the compact stapler to the Black mat.",
+    "Move the white stapler with metal tray to the Black mat",
+    "Move the white stapler to the Black colored mat",
+    "Use the right arm to move the white stapler with metal tray to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the compact stapler to Black mat",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Place the white stapler with metal tray on the Black mat",
+    "Use the right arm to move the white stapler with metal tray to the Black mat",
+    "Grab the white stapler and set it on Black mat",
+    "Move the white stapler with metal tray to the Black mat.",
+    "Move the white stapler with metal tray to the Black mat",
+    "Move the white stapler to the Black colored mat",
+    "Use the right arm to move the white stapler to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the white stapler to Black mat",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Place the white stapler with metal tray on the Black mat",
+    "Use the right arm to move the white stapler with metal tray to the Black mat",
+    "Grab the white stapler and set it on Black mat",
+    "Move the white stapler to the Black mat.",
+    "Move the white stapler with metal tray to the Black mat",
+    "Move the white stapler with metal tray to the Black colored mat",
+    "Use the right arm to move the white stapler with metal tray to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the compact stapler to Black mat",
+    "Place the compact stapler on the Black colored mat.",
+    "Place the white stapler on the Black mat",
+    "Use the right arm to move the compact stapler to the Black mat",
+    "Grab the compact stapler and set it on Black mat",
+    "Move the white stapler with metal tray to the Black mat.",
+    "Move the white stapler with metal tray to the Black mat",
+    "Move the compact stapler to the Black colored mat",
+    "Use the right arm to move the compact stapler to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the white stapler to Black mat",
+    "Place the compact stapler on the Black colored mat.",
+    "Place the white stapler with metal tray on the Black mat",
+    "Use the right arm to move the white stapler with metal tray to the Black mat",
+    "Grab the compact stapler and set it on Black mat",
+    "Move the white stapler to the Black mat.",
+    "Move the compact stapler to the Black mat",
+    "Move the white stapler to the Black colored mat",
+    "Use the right arm to move the compact stapler to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the white stapler with metal tray to Black mat",
+    "Place the compact stapler on the Black colored mat.",
+    "Place the white stapler on the Black mat",
+    "Use the right arm to move the white stapler with metal tray to the Black mat",
+    "Grab the white stapler and set it on Black mat",
+    "Move the white stapler with metal tray to the Black mat.",
+    "Move the white stapler to the Black mat",
+    "Move the compact stapler to the Black colored mat",
+    "Use the right arm to move the white stapler to Black mat.",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Use the right arm to move the compact stapler to Black mat",
+    "Place the compact stapler on the Black colored mat.",
+    "Place the compact stapler on the Black mat",
+    "Use the right arm to move the compact stapler to the Black mat",
+    "Grab the compact stapler and set it on Black mat",
+    "Move the white stapler to the Black mat.",
+    "Move the white stapler with metal tray to the Black mat",
+    "Move the compact stapler to the Black colored mat",
+    "Use the right arm to move the white stapler to Black mat.",
+    "Place the compact stapler on the Black colored mat.",
+    "Use the right arm to move the compact stapler to Black mat",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Place the compact stapler on the Black mat",
+    "Use the right arm to move the white stapler to the Black mat",
+    "Grab the white stapler with metal tray and set it on Black mat",
+    "Move the white stapler with metal tray to the Black mat.",
+    "Move the compact stapler to the Black mat",
+    "Move the white stapler with metal tray to the Black colored mat",
+    "Use the right arm to move the white stapler to Black mat.",
+    "Place the white stapler on the Black colored mat.",
+    "Use the right arm to move the white stapler to Black mat",
+    "Place the white stapler with metal tray on the Black colored mat.",
+    "Place the white stapler on the Black mat",
+    "Use the right arm to move the white stapler with metal tray to the Black mat",
+    "Grab the compact stapler and set it on Black mat",
+    "Move the compact stapler to the Black mat.",
+    "Move the compact stapler to the Black mat",
+    "Move the white stapler to the Black colored mat",
+    "Use the right arm to move the white stapler to Black mat.",
+    "Place the white stapler on the Black colored mat.",
+    "Use the right arm to move the compact stapler to Black mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the right arm grabs the compact blue stapler and sets it on Yellow mat.",
+    "Carry the stapler with white metallic components to the Yellow colored mat",
+    "Shift the small stapler manually to the Yellow mat",
+    "Set the blue stapler down on the Yellow mat",
+    "Place the blue stapler on the Yellow mat using the right arm",
+    "Stick the metal and plastic stapler onto the Yellow colored mat.",
+    "Lift the metal and plastic stapler to the Yellow mat using the right arm",
+    "Use the right arm to place the metal and plastic stapler onto the Yellow mat",
+    "With the right arm, move the small lightweight blue stapler to the Yellow mat",
+    "With the right arm, position the plastic blue stapler with metal parts on the Yellow mat",
+    "Pick up the small lightweight blue stapler with the right arm and set it on Yellow",
+    "Use the right arm to shift the handheld stapler onto the Yellow mat",
+    "Pick the metal and plastic stapler using the right arm and move it to Yellow mat.",
+    "the right arm transfers the blue stapler with black handle area to the Yellow mat.",
+    "Move the small lightweight blue stapler to the Yellow mat.",
+    "Use the right arm and place the small lightweight blue stapler on Yellow mat.",
+    "Grab the blue stapler with curved design and stick it onto Yellow mat",
+    "Transfer the small stapler to the Yellow colored mat.",
+    "Drop the compact blue stapler carefully on the Yellow mat",
+    "Use the right arm to grab the stapler with black top section and place it on Yellow mat",
+    "Drop the blue stapler with black handle area onto the Yellow mat.",
+    "Grab the stapler with white metallic components, place it on the Yellow mat",
+    "Move the stapler for stapling paper with the right arm to the Yellow mat",
+    "Grab the blue stapler with curved design with the right arm and drop it on Yellow mat.",
+    "Pick the metal and plastic stapler up and position it on Yellow mat",
+    "Pick up the small stapler and place it on Yellow mat",
+    "Shift the small stapler to the Yellow mat",
+    "Transfer the small stapler to the Yellow mat",
+    "Pick the blue stapler with curved design with the right arm and place it on Yellow mat",
+    "Relocate the stapler with white metallic components to the Yellow mat.",
+    "Lift the compact blue stapler and drop it onto Yellow mat",
+    "the right arm places the stapler for stapling paper on the Yellow mat.",
+    "Slide the stapler with black top section to the Yellow colored mat.",
+    "Carry the blue stapler with curved design and drop it onto the Yellow mat",
+    "Set the small lightweight blue stapler onto the Yellow colored mat.",
+    "Position the small stapler on the Yellow mat.",
+    "Stick the stapler for stapling paper on the Yellow mat.",
+    "Relocate the stapler with black top section to the Yellow colored mat",
+    "Set the small lightweight blue stapler down on the Yellow mat",
+    "Place the blue stapler with black handle area onto the Yellow colored mat.",
+    "Grab the stapler for stapling paper and drop it on Yellow mat.",
+    "Set the stapler with black top section on the Yellow mat with the right arm.",
+    "Place the compact blue stapler onto the Yellow colored mat",
+    "Using the right arm, set the small stapler on the Yellow colored mat",
+    "Grab the compact blue stapler using the right arm and set it on Yellow mat.",
+    "the right arm moves the small stapler to the Yellow mat.",
+    "Grab the stapler for stapling paper using the right arm and shift it to Yellow",
+    "Put the metal and plastic stapler on the Yellow mat",
+    "Move the small stapler to the Yellow mat with the right arm",
+    "the right arm grabs the metal and plastic stapler and sets it on Yellow mat.",
+    "Carry the blue stapler to the Yellow colored mat",
+    "Shift the blue stapler manually to the Yellow mat",
+    "Set the plastic blue stapler with metal parts down on the Yellow mat",
+    "Place the small lightweight blue stapler on the Yellow mat using the right arm",
+    "Stick the compact blue stapler onto the Yellow colored mat.",
+    "Lift the small stapler to the Yellow mat using the right arm",
+    "Use the right arm to place the stapler with white metallic components onto the Yellow mat",
+    "With the right arm, move the stapler with white metallic components to the Yellow mat",
+    "With the right arm, position the blue stapler with curved design on the Yellow mat",
+    "Pick up the blue stapler with black handle area with the right arm and set it on Yellow",
+    "Use the right arm to shift the stapler with black top section onto the Yellow mat",
+    "Pick the blue stapler using the right arm and move it to Yellow mat.",
+    "the right arm transfers the blue stapler to the Yellow mat.",
+    "Move the metal and plastic stapler to the Yellow mat.",
+    "Use the right arm and place the stapler with black top section on Yellow mat.",
+    "Grab the small lightweight blue stapler and stick it onto Yellow mat",
+    "Transfer the blue stapler with curved design to the Yellow colored mat.",
+    "Drop the stapler with white metallic components carefully on the Yellow mat",
+    "Use the right arm to grab the plastic blue stapler with metal parts and place it on Yellow mat",
+    "Drop the blue stapler with curved design onto the Yellow mat.",
+    "Grab the stapler for stapling paper, place it on the Yellow mat",
+    "Move the metal and plastic stapler with the right arm to the Yellow mat",
+    "Grab the blue stapler with curved design with the right arm and drop it on Yellow mat.",
+    "Pick the compact blue stapler up and position it on Yellow mat",
+    "Pick up the small lightweight blue stapler and place it on Yellow mat",
+    "Shift the stapler with white metallic components to the Yellow mat",
+    "Transfer the handheld stapler to the Yellow mat",
+    "Pick the stapler for stapling paper with the right arm and place it on Yellow mat",
+    "Relocate the handheld stapler to the Yellow mat.",
+    "Lift the small stapler and drop it onto Yellow mat",
+    "the right arm places the plastic blue stapler with metal parts on the Yellow mat.",
+    "Slide the compact blue stapler to the Yellow colored mat.",
+    "Carry the compact blue stapler and drop it onto the Yellow mat",
+    "Set the stapler for stapling paper onto the Yellow colored mat.",
+    "Position the small lightweight blue stapler on the Yellow mat.",
+    "Stick the small lightweight blue stapler on the Yellow mat.",
+    "Relocate the stapler for stapling paper to the Yellow colored mat",
+    "Set the blue stapler with curved design down on the Yellow mat",
+    "Place the small lightweight blue stapler onto the Yellow colored mat.",
+    "Grab the blue stapler with curved design and drop it on Yellow mat.",
+    "Set the blue stapler with curved design on the Yellow mat with the right arm.",
+    "Place the handheld stapler onto the Yellow colored mat",
+    "Using the right arm, set the small stapler on the Yellow colored mat",
+    "Grab the stapler with black top section using the right arm and set it on Yellow mat.",
+    "the right arm moves the blue stapler with curved design to the Yellow mat.",
+    "Grab the blue stapler using the right arm and shift it to Yellow",
+    "Put the stapler for stapling paper on the Yellow mat",
+    "Move the small lightweight blue stapler to the Yellow mat with the right arm",
+    "the right arm grabs the blue stapler and sets it on Yellow mat.",
+    "Carry the stapler with white metallic components to the Yellow colored mat"
+  ],
+  "unseen": [
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the blue stapler with smooth finish on the Yellow colored mat.",
+    "Grab the plastic stapler and set it on Yellow mat",
+    "Place the plastic stapler on the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Use the right arm to move the plastic stapler to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow colored mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with white loading section and set it on Yellow mat",
+    "Place the blue stapler with smooth finish on the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Yellow mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Grab the stapler with white loading section and set it on Yellow mat",
+    "Place the blue stapler with smooth finish on the Yellow mat",
+    "Move the plastic stapler to the Yellow mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Grab the plastic stapler and set it on Yellow mat",
+    "Place the plastic stapler on the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Yellow mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the plastic stapler to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Grab the stapler with white loading section and set it on Yellow mat",
+    "Place the stapler with white loading section on the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the stapler with white loading section to the Yellow mat",
+    "Move the plastic stapler to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow colored mat",
+    "Place the blue stapler with smooth finish on the Yellow colored mat.",
+    "Grab the stapler with white loading section and set it on Yellow mat",
+    "Place the stapler with white loading section on the Yellow mat",
+    "Move the plastic stapler to the Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Use the right arm to move the stapler with white loading section to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Grab the stapler with white loading section and set it on Yellow mat",
+    "Place the stapler with white loading section on the Yellow mat",
+    "Move the plastic stapler to the Yellow mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the blue stapler with smooth finish on the Yellow colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow colored mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Grab the plastic stapler and set it on Yellow mat",
+    "Place the blue stapler with smooth finish on the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the stapler with white loading section on the Yellow colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the stapler with white loading section to the Yellow colored mat",
+    "Place the blue stapler with smooth finish on the Yellow colored mat.",
+    "Grab the plastic stapler and set it on Yellow mat",
+    "Place the stapler with white loading section on the Yellow mat",
+    "Move the plastic stapler to the Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat.",
+    "Use the right arm to move the stapler with white loading section to Yellow mat",
+    "Place the blue stapler with smooth finish on the Yellow colored mat.",
+    "Use the right arm to move the plastic stapler to the Yellow mat",
+    "Move the blue stapler with smooth finish to the Yellow mat",
+    "Move the plastic stapler to the Yellow colored mat",
+    "Place the plastic stapler on the Yellow colored mat.",
+    "Grab the blue stapler with smooth finish and set it on Yellow mat",
+    "Place the plastic stapler on the Yellow mat",
+    "Move the stapler with white loading section to the Yellow mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Yellow mat.",
+    "Use the right arm to move the plastic stapler to Yellow mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the modern design stapler using the right arm and move it to Yellow mat.",
+    "Lift the stapler with orange button and drop it onto Yellow mat",
+    "Shift the stapler with orange button to the Yellow mat",
+    "Position the white stapler with rounded design on the Yellow mat.",
+    "Place the plastic and metal stapler on the Yellow mat using the right arm",
+    "Move the stapler with orange top lever to the Yellow mat with the right arm",
+    "Set the stapler with orange button down on the Yellow mat",
+    "Set the white body stapler with accents on the Yellow mat with the right arm.",
+    "Transfer the paper stapler with silver tray to the Yellow colored mat.",
+    "the right arm grabs the stapler with orange top lever and sets it on Yellow mat.",
+    "Grab the stapler for fastening papers, place it on the Yellow mat",
+    "the right arm places the plastic and metal stapler on the Yellow mat.",
+    "the right arm moves the stapler with orange button to the Yellow mat.",
+    "Set the stapler for fastening papers onto the Yellow colored mat.",
+    "Use the right arm to grab the white body stapler with accents and place it on Yellow mat",
+    "Grab the handheld stapler using the right arm and shift it to Yellow",
+    "Stick the stapler for fastening papers onto the Yellow colored mat.",
+    "Grab the white body stapler with accents using the right arm and set it on Yellow mat.",
+    "Shift the stapler for fastening papers manually to the Yellow mat",
+    "Carry the small office stapler and drop it onto the Yellow mat",
+    "With the right arm, move the paper stapler with silver tray to the Yellow mat",
+    "Relocate the stapler with rounded edges to the Yellow mat.",
+    "the right arm transfers the white body stapler with accents to the Yellow mat.",
+    "Place the paper stapler with silver tray onto the Yellow colored mat",
+    "Pick up the stapler for fastening papers and place it on Yellow mat",
+    "Grab the handheld stapler and drop it on Yellow mat.",
+    "Drop the stapler with rounded edges carefully on the Yellow mat",
+    "Stick the stapler with orange button on the Yellow mat.",
+    "Slide the plastic and metal stapler to the Yellow colored mat.",
+    "Move the plastic and metal stapler with the right arm to the Yellow mat",
+    "Use the right arm to shift the white body stapler with accents onto the Yellow mat",
+    "Lift the stapler with orange button to the Yellow mat using the right arm",
+    "With the right arm, position the small office stapler on the Yellow mat",
+    "Relocate the stapler with orange button to the Yellow colored mat",
+    "Pick the stapler with orange top lever up and position it on Yellow mat",
+    "Pick the stapler with orange top lever with the right arm and place it on Yellow mat",
+    "Move the stapler with orange top lever to the Yellow mat.",
+    "Use the right arm and place the stapler with rounded edges on Yellow mat.",
+    "Drop the modern design stapler onto the Yellow mat.",
+    "Put the plastic and metal stapler on the Yellow mat",
+    "Transfer the paper stapler with silver tray to the Yellow mat",
+    "Carry the paper stapler with silver tray to the Yellow colored mat",
+    "Use the right arm to place the stapler with orange button onto the Yellow mat",
+    "Using the right arm, set the white stapler with rounded design on the Yellow colored mat",
+    "Grab the modern design stapler and stick it onto Yellow mat",
+    "Place the plastic and metal stapler onto the Yellow colored mat.",
+    "Set the stapler for fastening papers down on the Yellow mat",
+    "Grab the stapler for fastening papers with the right arm and drop it on Yellow mat.",
+    "Pick up the handheld stapler with the right arm and set it on Yellow",
+    "Pick the paper stapler with silver tray using the right arm and move it to Yellow mat.",
+    "Lift the stapler with orange button and drop it onto Yellow mat",
+    "Shift the white stapler with rounded design to the Yellow mat",
+    "Position the smooth plastic stapler on the Yellow mat.",
+    "Place the paper stapler with silver tray on the Yellow mat using the right arm",
+    "Move the stapler with rounded edges to the Yellow mat with the right arm",
+    "Set the handheld stapler down on the Yellow mat",
+    "Set the white stapler with rounded design on the Yellow mat with the right arm.",
+    "Transfer the modern design stapler to the Yellow colored mat.",
+    "the right arm grabs the plastic and metal stapler and sets it on Yellow mat.",
+    "Grab the white body stapler with accents, place it on the Yellow mat",
+    "the right arm places the smooth plastic stapler on the Yellow mat.",
+    "the right arm moves the handheld stapler to the Yellow mat.",
+    "Set the small office stapler onto the Yellow colored mat.",
+    "Use the right arm to grab the smooth plastic stapler and place it on Yellow mat",
+    "Grab the stapler with rounded edges using the right arm and shift it to Yellow",
+    "Stick the stapler with orange button onto the Yellow colored mat.",
+    "Grab the smooth plastic stapler using the right arm and set it on Yellow mat.",
+    "Shift the smooth plastic stapler manually to the Yellow mat",
+    "Carry the plastic and metal stapler and drop it onto the Yellow mat",
+    "With the right arm, move the stapler with orange button to the Yellow mat",
+    "Relocate the small office stapler to the Yellow mat.",
+    "the right arm transfers the stapler with rounded edges to the Yellow mat.",
+    "Place the paper stapler with silver tray onto the Yellow colored mat",
+    "Pick up the modern design stapler and place it on Yellow mat",
+    "Grab the stapler with orange top lever and drop it on Yellow mat.",
+    "Drop the stapler with orange top lever carefully on the Yellow mat",
+    "Stick the white stapler with rounded design on the Yellow mat.",
+    "Slide the white body stapler with accents to the Yellow colored mat.",
+    "Move the smooth plastic stapler with the right arm to the Yellow mat",
+    "Use the right arm to shift the stapler with rounded edges onto the Yellow mat",
+    "Lift the stapler with rounded edges to the Yellow mat using the right arm",
+    "With the right arm, position the smooth plastic stapler on the Yellow mat",
+    "Relocate the modern design stapler to the Yellow colored mat",
+    "Pick the small office stapler up and position it on Yellow mat",
+    "Pick the stapler for fastening papers with the right arm and place it on Yellow mat",
+    "Move the plastic and metal stapler to the Yellow mat.",
+    "Use the right arm and place the handheld stapler on Yellow mat.",
+    "Drop the white stapler with rounded design onto the Yellow mat.",
+    "Put the stapler with rounded edges on the Yellow mat",
+    "Transfer the small office stapler to the Yellow mat",
+    "Carry the stapler with orange button to the Yellow colored mat",
+    "Use the right arm to place the stapler with rounded edges onto the Yellow mat",
+    "Using the right arm, set the stapler for fastening papers on the Yellow colored mat",
+    "Grab the stapler with rounded edges and stick it onto Yellow mat",
+    "Place the handheld stapler onto the Yellow colored mat.",
+    "Set the white stapler with rounded design down on the Yellow mat",
+    "Grab the modern design stapler with the right arm and drop it on Yellow mat.",
+    "Pick up the white body stapler with accents with the right arm and set it on Yellow",
+    "Pick the stapler with rounded edges using the right arm and move it to Yellow mat.",
+    "Lift the handheld stapler and drop it onto Yellow mat"
+  ],
+  "unseen": [
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the white stapler to the Yellow colored mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Use the right arm to move the white stapler to Yellow mat.",
+    "Use the right arm to move the compact stapler to the Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat.",
+    "Use the right arm to move the white stapler to the Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Move the compact stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the compact stapler to the Yellow colored mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat.",
+    "Use the right arm to move the white stapler to the Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Move the compact stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Use the right arm to move the compact stapler to Yellow mat.",
+    "Use the right arm to move the compact stapler to the Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Use the right arm to move the white stapler to Yellow mat.",
+    "Use the right arm to move the compact stapler to the Yellow mat",
+    "Move the compact stapler to the Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Grab the compact stapler and set it on Yellow mat",
+    "Move the compact stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the compact stapler on the Yellow mat",
+    "Use the right arm to move the compact stapler to Yellow mat.",
+    "Use the right arm to move the white stapler to the Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Move the white stapler to the Yellow mat",
+    "Place the white stapler on the Yellow colored mat.",
+    "Move the white stapler to the Yellow colored mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat.",
+    "Use the right arm to move the compact stapler to the Yellow mat",
+    "Move the white stapler to the Yellow mat.",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Move the compact stapler to the Yellow mat",
+    "Place the compact stapler on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Use the right arm to move the white stapler to Yellow mat.",
+    "Use the right arm to move the white stapler with metal tray to the Yellow mat",
+    "Move the white stapler to the Yellow mat.",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Grab the white stapler with metal tray and set it on Yellow mat",
+    "Move the white stapler to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the compact stapler to the Yellow colored mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat",
+    "Place the white stapler on the Yellow mat",
+    "Use the right arm to move the white stapler with metal tray to Yellow mat.",
+    "Use the right arm to move the white stapler to the Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat.",
+    "Place the white stapler on the Yellow colored mat.",
+    "Grab the white stapler and set it on Yellow mat",
+    "Move the white stapler with metal tray to the Yellow mat",
+    "Place the white stapler with metal tray on the Yellow colored mat.",
+    "Move the white stapler with metal tray to the Yellow colored mat",
+    "Use the right arm to move the white stapler to Yellow mat",
+    "Place the white stapler with metal tray on the Yellow mat",
+    "Use the right arm to move the compact stapler to Yellow mat.",
+    "Use the right arm to move the compact stapler to the Yellow mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue stapler with silver staple tray and place it on Yellow mat",
+    "Stick the handy blue stapler with metal parts onto the Yellow colored mat.",
+    "Drop the plastic stapler with metallic interior onto the Yellow mat.",
+    "Move the bright blue smooth stapler to the Yellow mat.",
+    "Place the blue stapler with silver staple tray on the Yellow mat using the left arm",
+    "Lift the blue stapler for paper fastening to the Yellow mat using the left arm",
+    "Transfer the blue stapler to the Yellow colored mat.",
+    "Transfer the blue stapler with silver staple tray to the Yellow mat",
+    "Relocate the blue stapler to the Yellow colored mat",
+    "Use the left arm and place the compact bright blue stapler on Yellow mat.",
+    "the left arm transfers the blue stapler with silver staple tray to the Yellow mat.",
+    "Place the blue stapler with white accents onto the Yellow colored mat",
+    "the left arm places the blue rectangular stapler with curves on the Yellow mat.",
+    "Set the handy blue stapler with metal parts onto the Yellow colored mat.",
+    "Set the simple stapler down on the Yellow mat",
+    "Using the left arm, set the blue stapler on the Yellow colored mat",
+    "Lift the blue rectangular stapler with curves and drop it onto Yellow mat",
+    "Use the left arm to shift the stapler with blue plastic handle onto the Yellow mat",
+    "the left arm moves the stapler with blue plastic handle to the Yellow mat.",
+    "Carry the blue stapler to the Yellow colored mat",
+    "Slide the plastic stapler with silver mechanism to the Yellow colored mat.",
+    "the left arm grabs the blue stapler for paper fastening and sets it on Yellow mat.",
+    "Grab the blue stapler using the left arm and shift it to Yellow",
+    "Pick the blue stapler using the left arm and move it to Yellow mat.",
+    "Shift the plastic stapler with metallic interior to the Yellow mat",
+    "Grab the blue stapler with silver staple tray and stick it onto Yellow mat",
+    "With the left arm, position the blue stapler on the Yellow mat",
+    "Use the left arm to grab the blue stapler with white accents and place it on Yellow mat",
+    "Grab the plastic stapler with metallic interior, place it on the Yellow mat",
+    "Grab the blue stapler with silver staple tray and drop it on Yellow mat.",
+    "Set the blue stapler with white accents down on the Yellow mat",
+    "Place the stapler with blue plastic handle onto the Yellow colored mat.",
+    "Use the left arm to place the plastic stapler with silver mechanism onto the Yellow mat",
+    "Grab the compact bright blue stapler using the left arm and set it on Yellow mat.",
+    "Position the blue stapler with white accents on the Yellow mat.",
+    "Grab the compact bright blue stapler with the left arm and drop it on Yellow mat.",
+    "With the left arm, move the stapler with blue plastic handle to the Yellow mat",
+    "Pick the compact bright blue stapler with the left arm and place it on Yellow mat",
+    "Pick up the plastic stapler with silver mechanism with the left arm and set it on Yellow",
+    "Move the blue stapler for paper fastening to the Yellow mat with the left arm",
+    "Drop the bright blue smooth stapler carefully on the Yellow mat",
+    "Shift the blue stapler manually to the Yellow mat",
+    "Relocate the stapler with blue plastic handle to the Yellow mat.",
+    "Pick the compact bright blue stapler up and position it on Yellow mat",
+    "Put the blue stapler on the Yellow mat",
+    "Stick the plastic stapler with metallic interior on the Yellow mat.",
+    "Move the stapler with blue plastic handle with the left arm to the Yellow mat",
+    "Carry the blue rectangular stapler with curves and drop it onto the Yellow mat",
+    "Set the blue rectangular stapler with curves on the Yellow mat with the left arm.",
+    "Pick up the bright blue smooth stapler and place it on Yellow mat",
+    "Stick the plastic stapler with silver mechanism onto the Yellow colored mat.",
+    "Drop the blue stapler onto the Yellow mat.",
+    "Move the stapler with blue plastic handle to the Yellow mat.",
+    "Place the blue stapler on the Yellow mat using the left arm",
+    "Lift the compact bright blue stapler to the Yellow mat using the left arm",
+    "Transfer the plastic stapler with metallic interior to the Yellow colored mat.",
+    "Transfer the blue stapler with silver staple tray to the Yellow mat",
+    "Relocate the simple stapler to the Yellow colored mat",
+    "Use the left arm and place the bright blue smooth stapler on Yellow mat.",
+    "the left arm transfers the plastic stapler with metallic interior to the Yellow mat.",
+    "Place the compact bright blue stapler onto the Yellow colored mat",
+    "the left arm places the stapler with blue plastic handle on the Yellow mat.",
+    "Set the bright blue smooth stapler onto the Yellow colored mat.",
+    "Set the blue stapler for paper fastening down on the Yellow mat",
+    "Using the left arm, set the plastic stapler with metallic interior on the Yellow colored mat",
+    "Lift the blue stapler with silver staple tray and drop it onto Yellow mat",
+    "Use the left arm to shift the blue rectangular stapler with curves onto the Yellow mat",
+    "the left arm moves the plastic stapler with silver mechanism to the Yellow mat.",
+    "Carry the simple stapler to the Yellow colored mat",
+    "Slide the blue stapler with white accents to the Yellow colored mat.",
+    "the left arm grabs the blue stapler for paper fastening and sets it on Yellow mat.",
+    "Grab the blue stapler with silver staple tray using the left arm and shift it to Yellow",
+    "Pick the blue stapler with silver staple tray using the left arm and move it to Yellow mat.",
+    "Shift the blue stapler with silver staple tray to the Yellow mat",
+    "Grab the handy blue stapler with metal parts and stick it onto Yellow mat",
+    "With the left arm, position the blue stapler with silver staple tray on the Yellow mat",
+    "Use the left arm to grab the bright blue smooth stapler and place it on Yellow mat",
+    "Grab the bright blue smooth stapler, place it on the Yellow mat",
+    "Grab the stapler with blue plastic handle and drop it on Yellow mat.",
+    "Set the blue stapler with silver staple tray down on the Yellow mat",
+    "Place the blue stapler for paper fastening onto the Yellow colored mat.",
+    "Use the left arm to place the compact bright blue stapler onto the Yellow mat",
+    "Grab the compact bright blue stapler using the left arm and set it on Yellow mat.",
+    "Position the blue rectangular stapler with curves on the Yellow mat.",
+    "Grab the bright blue smooth stapler with the left arm and drop it on Yellow mat.",
+    "With the left arm, move the compact bright blue stapler to the Yellow mat",
+    "Pick the plastic stapler with metallic interior with the left arm and place it on Yellow mat",
+    "Pick up the plastic stapler with silver mechanism with the left arm and set it on Yellow",
+    "Move the compact bright blue stapler to the Yellow mat with the left arm",
+    "Drop the plastic stapler with silver mechanism carefully on the Yellow mat",
+    "Shift the stapler with blue plastic handle manually to the Yellow mat",
+    "Relocate the blue stapler with white accents to the Yellow mat.",
+    "Pick the stapler with blue plastic handle up and position it on Yellow mat",
+    "Put the handy blue stapler with metal parts on the Yellow mat",
+    "Stick the plastic stapler with metallic interior on the Yellow mat.",
+    "Move the blue stapler with silver staple tray with the left arm to the Yellow mat",
+    "Carry the plastic stapler with metallic interior and drop it onto the Yellow mat",
+    "Set the bright blue smooth stapler on the Yellow mat with the left arm.",
+    "Pick up the plastic stapler with silver mechanism and place it on Yellow mat",
+    "Stick the simple stapler onto the Yellow colored mat."
+  ],
+  "unseen": [
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the hand-size bright blue stapler on the Yellow colored mat.",
+    "Place the rectangular stapler with curved corners on the Yellow mat",
+    "Move the blue and white stapler to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow mat.",
+    "Move the rectangular stapler with curved corners to the Yellow colored mat",
+    "Use the left arm to move the hand-size bright blue stapler to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat",
+    "Grab the blue and white stapler and set it on Yellow mat",
+    "Place the blue and white stapler on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the blue and white stapler to the Yellow mat",
+    "Place the blue and white stapler on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the rectangular stapler with curved corners to the Yellow colored mat",
+    "Use the left arm to move the hand-size bright blue stapler to the Yellow mat",
+    "Use the left arm to move the hand-size bright blue stapler to Yellow mat",
+    "Grab the rectangular stapler with curved corners and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the hand-size bright blue stapler to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to Yellow mat.",
+    "Move the rectangular stapler with curved corners to the Yellow mat.",
+    "Move the rectangular stapler with curved corners to the Yellow colored mat",
+    "Use the left arm to move the hand-size bright blue stapler to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat",
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the hand-size bright blue stapler to the Yellow mat",
+    "Place the blue and white stapler on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow mat.",
+    "Move the blue and white stapler to the Yellow colored mat",
+    "Use the left arm to move the blue and white stapler to the Yellow mat",
+    "Use the left arm to move the blue and white stapler to Yellow mat",
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the blue and white stapler on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the hand-size bright blue stapler to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow colored mat",
+    "Use the left arm to move the hand-size bright blue stapler to the Yellow mat",
+    "Use the left arm to move the blue and white stapler to Yellow mat",
+    "Grab the rectangular stapler with curved corners and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the rectangular stapler with curved corners on the Yellow mat",
+    "Move the rectangular stapler with curved corners to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow colored mat",
+    "Use the left arm to move the rectangular stapler with curved corners to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat",
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the rectangular stapler with curved corners to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the rectangular stapler with curved corners to the Yellow colored mat",
+    "Use the left arm to move the rectangular stapler with curved corners to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat",
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the hand-size bright blue stapler on the Yellow mat",
+    "Move the blue and white stapler to the Yellow mat",
+    "Place the hand-size bright blue stapler on the Yellow colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow colored mat",
+    "Use the left arm to move the rectangular stapler with curved corners to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat",
+    "Grab the hand-size bright blue stapler and set it on Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Place the blue and white stapler on the Yellow mat",
+    "Move the rectangular stapler with curved corners to the Yellow mat",
+    "Place the rectangular stapler with curved corners on the Yellow colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the blue and white stapler to the Yellow colored mat",
+    "Use the left arm to move the blue and white stapler to the Yellow mat",
+    "Use the left arm to move the hand-size bright blue stapler to Yellow mat",
+    "Grab the blue and white stapler and set it on Yellow mat",
+    "Place the hand-size bright blue stapler on the Yellow colored mat.",
+    "Place the rectangular stapler with curved corners on the Yellow mat",
+    "Move the blue and white stapler to the Yellow mat",
+    "Place the hand-size bright blue stapler on the Yellow colored mat.",
+    "Use the left arm to move the blue and white stapler to Yellow mat.",
+    "Move the blue and white stapler to the Yellow mat.",
+    "Move the hand-size bright blue stapler to the Yellow colored mat",
+    "Use the left arm to move the blue and white stapler to the Yellow mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Yellow mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the stapler with metallic staple slot and drop it onto the Yellow mat",
+    "Grab the compact office stapler, place it on the Yellow mat",
+    "Shift the compact office stapler to the Yellow mat",
+    "Pick the red plastic stapler with smooth top up and position it on Yellow mat",
+    "Set the manual stapler with black base on the Yellow mat with the left arm.",
+    "Stick the red top black bottom stapler onto the Yellow colored mat.",
+    "Grab the red top black bottom stapler using the left arm and shift it to Yellow",
+    "Slide the stapler for fastening papers to the Yellow colored mat.",
+    "Use the left arm and place the red stapler on Yellow mat.",
+    "Stick the small handheld stapler on the Yellow mat.",
+    "With the left arm, move the manual stapler with black base to the Yellow mat",
+    "Place the red stapler with black base on the Yellow mat using the left arm",
+    "Move the desk stapler with red body to the Yellow mat with the left arm",
+    "Use the left arm to grab the red plastic stapler with smooth top and place it on Yellow mat",
+    "Lift the red top black bottom stapler and drop it onto Yellow mat",
+    "Put the stapler with red top on the Yellow mat",
+    "Move the red plastic stapler with smooth top to the Yellow mat.",
+    "Grab the red plastic stapler with smooth top using the left arm and set it on Yellow mat.",
+    "Shift the manual stapler with black base manually to the Yellow mat",
+    "Pick the compact office stapler using the left arm and move it to Yellow mat.",
+    "Pick up the office stapler with plastic and metal parts with the left arm and set it on Yellow",
+    "With the left arm, position the stapler with metallic staple slot on the Yellow mat",
+    "Carry the stapler with metallic staple slot to the Yellow colored mat",
+    "Use the left arm to shift the red stapler with black base onto the Yellow mat",
+    "Relocate the small handheld stapler to the Yellow colored mat",
+    "Position the stapler with metallic staple slot on the Yellow mat.",
+    "Transfer the stapler with red top to the Yellow colored mat.",
+    "Lift the compact office stapler to the Yellow mat using the left arm",
+    "Set the stapler with metallic staple slot down on the Yellow mat",
+    "Grab the stapler with metallic staple slot and drop it on Yellow mat.",
+    "Pick the stapler for fastening papers with the left arm and place it on Yellow mat",
+    "Drop the small handheld stapler carefully on the Yellow mat",
+    "Using the left arm, set the small handheld stapler on the Yellow colored mat",
+    "the left arm grabs the red plastic stapler with smooth top and sets it on Yellow mat.",
+    "Grab the manual stapler with black base and stick it onto Yellow mat",
+    "the left arm transfers the small handheld stapler to the Yellow mat.",
+    "Use the left arm to place the red stapler onto the Yellow mat",
+    "Set the red plastic stapler with smooth top down on the Yellow mat",
+    "Pick up the red top black bottom stapler and place it on Yellow mat",
+    "Drop the red top black bottom stapler onto the Yellow mat.",
+    "Place the red stapler with black base onto the Yellow colored mat",
+    "the left arm places the red top black bottom stapler on the Yellow mat.",
+    "Relocate the stapler with red top to the Yellow mat.",
+    "Transfer the stapler with red top to the Yellow mat",
+    "Place the desk stapler with red body onto the Yellow colored mat.",
+    "the left arm moves the office stapler with plastic and metal parts to the Yellow mat.",
+    "Set the stapler with red top onto the Yellow colored mat.",
+    "Grab the small handheld stapler with the left arm and drop it on Yellow mat.",
+    "Move the stapler with metallic staple slot with the left arm to the Yellow mat",
+    "Carry the office stapler with plastic and metal parts and drop it onto the Yellow mat",
+    "Grab the desk stapler with red body, place it on the Yellow mat",
+    "Shift the stapler for fastening papers to the Yellow mat",
+    "Pick the manual stapler with black base up and position it on Yellow mat",
+    "Set the small handheld stapler on the Yellow mat with the left arm.",
+    "Stick the stapler for fastening papers onto the Yellow colored mat.",
+    "Grab the desk stapler with red body using the left arm and shift it to Yellow",
+    "Slide the desk stapler with red body to the Yellow colored mat.",
+    "Use the left arm and place the red top black bottom stapler on Yellow mat.",
+    "Stick the office stapler with plastic and metal parts on the Yellow mat.",
+    "With the left arm, move the office stapler with plastic and metal parts to the Yellow mat",
+    "Place the desk stapler with red body on the Yellow mat using the left arm",
+    "Move the compact office stapler to the Yellow mat with the left arm",
+    "Use the left arm to grab the red plastic stapler with smooth top and place it on Yellow mat",
+    "Lift the red top black bottom stapler and drop it onto Yellow mat",
+    "Put the manual stapler with black base on the Yellow mat",
+    "Move the stapler with red top to the Yellow mat.",
+    "Grab the stapler with red top using the left arm and set it on Yellow mat.",
+    "Shift the stapler with red top manually to the Yellow mat",
+    "Pick the stapler for fastening papers using the left arm and move it to Yellow mat.",
+    "Pick up the red stapler with black base with the left arm and set it on Yellow",
+    "With the left arm, position the office stapler with plastic and metal parts on the Yellow mat",
+    "Carry the stapler for fastening papers to the Yellow colored mat",
+    "Use the left arm to shift the desk stapler with red body onto the Yellow mat",
+    "Relocate the red top black bottom stapler to the Yellow colored mat",
+    "Position the small handheld stapler on the Yellow mat.",
+    "Transfer the red stapler to the Yellow colored mat.",
+    "Lift the stapler for fastening papers to the Yellow mat using the left arm",
+    "Set the desk stapler with red body down on the Yellow mat",
+    "Grab the stapler with metallic staple slot and drop it on Yellow mat.",
+    "Pick the desk stapler with red body with the left arm and place it on Yellow mat",
+    "Drop the small handheld stapler carefully on the Yellow mat",
+    "Using the left arm, set the desk stapler with red body on the Yellow colored mat",
+    "the left arm grabs the stapler with metallic staple slot and sets it on Yellow mat.",
+    "Grab the manual stapler with black base and stick it onto Yellow mat",
+    "the left arm transfers the desk stapler with red body to the Yellow mat.",
+    "Use the left arm to place the red plastic stapler with smooth top onto the Yellow mat",
+    "Set the stapler with red top down on the Yellow mat",
+    "Pick up the manual stapler with black base and place it on Yellow mat",
+    "Drop the red top black bottom stapler onto the Yellow mat.",
+    "Place the red stapler onto the Yellow colored mat",
+    "the left arm places the red stapler on the Yellow mat.",
+    "Relocate the desk stapler with red body to the Yellow mat.",
+    "Transfer the red top black bottom stapler to the Yellow mat",
+    "Place the office stapler with plastic and metal parts onto the Yellow colored mat.",
+    "the left arm moves the stapler for fastening papers to the Yellow mat.",
+    "Set the manual stapler with black base onto the Yellow colored mat.",
+    "Grab the red stapler with the left arm and drop it on Yellow mat.",
+    "Move the red stapler with black base with the left arm to the Yellow mat",
+    "Carry the small handheld stapler and drop it onto the Yellow mat",
+    "Grab the red top black bottom stapler, place it on the Yellow mat"
+  ],
+  "unseen": [
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the left arm to move the red plastic stapler to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Move the red plastic stapler to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the left arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the left arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the left arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Move the red plastic stapler to the Yellow mat.",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the left arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Use the left arm to move the red plastic stapler to Yellow mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Grab the paper stapler with curved handle and set it on Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the red plastic stapler to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the left arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Move the red plastic stapler to the Yellow mat.",
+    "Move the red stapler with silver chamber to the Yellow mat",
+    "Use the left arm to move the red plastic stapler to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the left arm to move the red plastic stapler to the Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the left arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Move the red plastic stapler to the Yellow mat.",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Use the left arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the left arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat.",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Grab the paper stapler with curved handle and set it on Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Move the red plastic stapler to the Yellow mat",
+    "Use the left arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the left arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Use the left arm to move the red plastic stapler to Yellow mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the blue stapler with white accents on the Red mat",
+    "Place the blue stapler onto the Red colored mat.",
+    "Shift the plastic stapler with silver mechanism to the Red mat",
+    "Use the right arm to place the bright blue smooth stapler onto the Red mat",
+    "the right arm grabs the handy blue stapler with metal parts and sets it on Red mat.",
+    "Pick the compact bright blue stapler using the right arm and move it to Red mat.",
+    "Move the blue rectangular stapler with curves with the right arm to the Red mat",
+    "Pick the blue stapler with the right arm and place it on Red mat",
+    "the right arm places the blue stapler on the Red mat.",
+    "Lift the stapler with blue plastic handle to the Red mat using the right arm",
+    "Set the handy blue stapler with metal parts onto the Red colored mat.",
+    "Transfer the bright blue smooth stapler to the Red mat",
+    "Position the blue stapler with white accents on the Red mat.",
+    "Slide the blue stapler with silver staple tray to the Red colored mat.",
+    "With the right arm, position the blue rectangular stapler with curves on the Red mat",
+    "Place the stapler with blue plastic handle onto the Red colored mat",
+    "Move the plastic stapler with silver mechanism to the Red mat.",
+    "Grab the blue stapler for paper fastening and stick it onto Red mat",
+    "Relocate the bright blue smooth stapler to the Red mat.",
+    "Set the blue rectangular stapler with curves on the Red mat with the right arm.",
+    "Stick the blue stapler on the Red mat.",
+    "Drop the blue stapler with silver staple tray carefully on the Red mat",
+    "Set the stapler with blue plastic handle down on the Red mat",
+    "Transfer the plastic stapler with metallic interior to the Red colored mat.",
+    "Relocate the blue stapler with white accents to the Red colored mat",
+    "Use the right arm to grab the blue stapler with white accents and place it on Red mat",
+    "Lift the blue stapler with silver staple tray and drop it onto Red mat",
+    "Drop the handy blue stapler with metal parts onto the Red mat.",
+    "Using the right arm, set the plastic stapler with metallic interior on the Red colored mat",
+    "Pick the blue stapler for paper fastening up and position it on Red mat",
+    "Set the handy blue stapler with metal parts down on the Red mat",
+    "the right arm transfers the blue stapler for paper fastening to the Red mat.",
+    "Grab the blue stapler using the right arm and set it on Red mat.",
+    "Place the stapler with blue plastic handle on the Red mat using the right arm",
+    "Carry the compact bright blue stapler to the Red colored mat",
+    "Carry the handy blue stapler with metal parts and drop it onto the Red mat",
+    "Pick up the plastic stapler with metallic interior and place it on Red mat",
+    "Shift the stapler with blue plastic handle manually to the Red mat",
+    "Grab the simple stapler with the right arm and drop it on Red mat.",
+    "Use the right arm to shift the blue rectangular stapler with curves onto the Red mat",
+    "With the right arm, move the blue stapler with silver staple tray to the Red mat",
+    "Stick the blue stapler with silver staple tray onto the Red colored mat.",
+    "Pick up the blue stapler with white accents with the right arm and set it on Red",
+    "the right arm moves the plastic stapler with silver mechanism to the Red mat.",
+    "Grab the bright blue smooth stapler and drop it on Red mat.",
+    "Grab the plastic stapler with silver mechanism using the right arm and shift it to Red",
+    "Grab the stapler with blue plastic handle, place it on the Red mat",
+    "Move the blue stapler for paper fastening to the Red mat with the right arm",
+    "Use the right arm and place the blue stapler with white accents on Red mat.",
+    "Put the plastic stapler with silver mechanism on the Red mat",
+    "Place the blue rectangular stapler with curves onto the Red colored mat.",
+    "Shift the plastic stapler with silver mechanism to the Red mat",
+    "Use the right arm to place the simple stapler onto the Red mat",
+    "the right arm grabs the handy blue stapler with metal parts and sets it on Red mat.",
+    "Pick the blue stapler for paper fastening using the right arm and move it to Red mat.",
+    "Move the bright blue smooth stapler with the right arm to the Red mat",
+    "Pick the blue stapler with the right arm and place it on Red mat",
+    "the right arm places the blue stapler for paper fastening on the Red mat.",
+    "Lift the blue stapler with white accents to the Red mat using the right arm",
+    "Set the plastic stapler with silver mechanism onto the Red colored mat.",
+    "Transfer the blue stapler to the Red mat",
+    "Position the blue stapler for paper fastening on the Red mat.",
+    "Slide the simple stapler to the Red colored mat.",
+    "With the right arm, position the compact bright blue stapler on the Red mat",
+    "Place the plastic stapler with silver mechanism onto the Red colored mat",
+    "Move the bright blue smooth stapler to the Red mat.",
+    "Grab the blue stapler with silver staple tray and stick it onto Red mat",
+    "Relocate the plastic stapler with metallic interior to the Red mat.",
+    "Set the plastic stapler with metallic interior on the Red mat with the right arm.",
+    "Stick the blue stapler on the Red mat.",
+    "Drop the compact bright blue stapler carefully on the Red mat",
+    "Set the plastic stapler with silver mechanism down on the Red mat",
+    "Transfer the compact bright blue stapler to the Red colored mat.",
+    "Relocate the blue rectangular stapler with curves to the Red colored mat",
+    "Use the right arm to grab the bright blue smooth stapler and place it on Red mat",
+    "Lift the compact bright blue stapler and drop it onto Red mat",
+    "Drop the plastic stapler with metallic interior onto the Red mat.",
+    "Using the right arm, set the blue stapler on the Red colored mat",
+    "Pick the blue stapler for paper fastening up and position it on Red mat",
+    "Set the blue stapler with silver staple tray down on the Red mat",
+    "the right arm transfers the handy blue stapler with metal parts to the Red mat.",
+    "Grab the bright blue smooth stapler using the right arm and set it on Red mat.",
+    "Place the blue stapler with white accents on the Red mat using the right arm",
+    "Carry the plastic stapler with metallic interior to the Red colored mat",
+    "Carry the blue stapler with white accents and drop it onto the Red mat",
+    "Pick up the stapler with blue plastic handle and place it on Red mat",
+    "Shift the blue rectangular stapler with curves manually to the Red mat",
+    "Grab the stapler with blue plastic handle with the right arm and drop it on Red mat.",
+    "Use the right arm to shift the plastic stapler with metallic interior onto the Red mat",
+    "With the right arm, move the plastic stapler with metallic interior to the Red mat",
+    "Stick the handy blue stapler with metal parts onto the Red colored mat.",
+    "Pick up the stapler with blue plastic handle with the right arm and set it on Red",
+    "the right arm moves the blue stapler with silver staple tray to the Red mat.",
+    "Grab the blue stapler and drop it on Red mat.",
+    "Grab the compact bright blue stapler using the right arm and shift it to Red",
+    "Grab the blue stapler, place it on the Red mat",
+    "Move the blue rectangular stapler with curves to the Red mat with the right arm",
+    "Use the right arm and place the simple stapler on Red mat.",
+    "Put the compact bright blue stapler on the Red mat",
+    "Place the plastic stapler with silver mechanism onto the Red colored mat."
+  ],
+  "unseen": [
+    "Place the hand-size bright blue stapler on the Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Red mat",
+    "Move the hand-size bright blue stapler to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red colored mat",
+    "Use the right arm to move the blue and white stapler to Red mat",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Move the rectangular stapler with curved corners to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat.",
+    "Place the blue and white stapler on the Red mat",
+    "Use the right arm to move the blue and white stapler to the Red mat",
+    "Move the blue and white stapler to the Red mat",
+    "Move the blue and white stapler to the Red colored mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Move the hand-size bright blue stapler to the Red mat.",
+    "Place the rectangular stapler with curved corners on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the blue and white stapler to Red mat.",
+    "Place the blue and white stapler on the Red mat",
+    "Use the right arm to move the blue and white stapler to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red colored mat",
+    "Use the right arm to move the blue and white stapler to Red mat",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Move the rectangular stapler with curved corners to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the rectangular stapler with curved corners and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat.",
+    "Place the rectangular stapler with curved corners on the Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Red mat",
+    "Move the blue and white stapler to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red colored mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Move the rectangular stapler with curved corners to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the blue and white stapler to Red mat.",
+    "Place the rectangular stapler with curved corners on the Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Red mat",
+    "Move the blue and white stapler to the Red mat",
+    "Move the hand-size bright blue stapler to the Red colored mat",
+    "Use the right arm to move the blue and white stapler to Red mat",
+    "Place the rectangular stapler with curved corners on the Red colored mat.",
+    "Move the rectangular stapler with curved corners to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the blue and white stapler and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat.",
+    "Place the hand-size bright blue stapler on the Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red mat",
+    "Move the blue and white stapler to the Red colored mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat",
+    "Place the rectangular stapler with curved corners on the Red colored mat.",
+    "Move the blue and white stapler to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat.",
+    "Place the blue and white stapler on the Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Red mat",
+    "Move the hand-size bright blue stapler to the Red mat",
+    "Move the blue and white stapler to the Red colored mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Move the hand-size bright blue stapler to the Red mat.",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Grab the blue and white stapler and set it on Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat.",
+    "Place the rectangular stapler with curved corners on the Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Red mat",
+    "Move the hand-size bright blue stapler to the Red mat",
+    "Move the rectangular stapler with curved corners to the Red colored mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Move the blue and white stapler to the Red mat.",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat.",
+    "Place the rectangular stapler with curved corners on the Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Red mat",
+    "Move the hand-size bright blue stapler to the Red mat",
+    "Move the hand-size bright blue stapler to the Red colored mat",
+    "Use the right arm to move the hand-size bright blue stapler to Red mat",
+    "Place the hand-size bright blue stapler on the Red colored mat.",
+    "Move the blue and white stapler to the Red mat.",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Grab the rectangular stapler with curved corners and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat.",
+    "Place the rectangular stapler with curved corners on the Red mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Red mat",
+    "Move the hand-size bright blue stapler to the Red mat",
+    "Move the blue and white stapler to the Red colored mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat",
+    "Place the blue and white stapler on the Red colored mat.",
+    "Move the rectangular stapler with curved corners to the Red mat.",
+    "Place the rectangular stapler with curved corners on the Red colored mat.",
+    "Grab the hand-size bright blue stapler and set it on Red mat",
+    "Use the right arm to move the rectangular stapler with curved corners to Red mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the blue stapler for paper fastening to the Gray mat",
+    "Slide the plastic stapler with metallic interior to the Gray colored mat.",
+    "Use the right arm to grab the handy blue stapler with metal parts and place it on Gray mat",
+    "Grab the handy blue stapler with metal parts and drop it on Gray mat.",
+    "Place the plastic stapler with metallic interior onto the Gray colored mat.",
+    "the right arm grabs the blue rectangular stapler with curves and sets it on Gray mat.",
+    "Use the right arm to shift the compact bright blue stapler onto the Gray mat",
+    "Move the blue stapler with the right arm to the Gray mat",
+    "Place the blue rectangular stapler with curves onto the Gray colored mat",
+    "the right arm places the plastic stapler with silver mechanism on the Gray mat.",
+    "Pick the bright blue smooth stapler using the right arm and move it to Gray mat.",
+    "Relocate the blue stapler with silver staple tray to the Gray colored mat",
+    "Set the compact bright blue stapler down on the Gray mat",
+    "Use the right arm and place the blue stapler with white accents on Gray mat.",
+    "Drop the blue stapler with silver staple tray carefully on the Gray mat",
+    "Grab the bright blue smooth stapler, place it on the Gray mat",
+    "Using the right arm, set the plastic stapler with silver mechanism on the Gray colored mat",
+    "Position the stapler with blue plastic handle on the Gray mat.",
+    "Pick the handy blue stapler with metal parts up and position it on Gray mat",
+    "Put the blue stapler for paper fastening on the Gray mat",
+    "Pick the blue stapler for paper fastening with the right arm and place it on Gray mat",
+    "Lift the plastic stapler with silver mechanism and drop it onto Gray mat",
+    "Transfer the simple stapler to the Gray colored mat.",
+    "Shift the simple stapler manually to the Gray mat",
+    "With the right arm, move the blue rectangular stapler with curves to the Gray mat",
+    "Place the blue stapler with white accents on the Gray mat using the right arm",
+    "Grab the plastic stapler with metallic interior and stick it onto Gray mat",
+    "Set the plastic stapler with metallic interior onto the Gray colored mat.",
+    "Carry the blue stapler with silver staple tray and drop it onto the Gray mat",
+    "Stick the compact bright blue stapler onto the Gray colored mat.",
+    "Set the blue stapler with silver staple tray down on the Gray mat",
+    "Relocate the stapler with blue plastic handle to the Gray mat.",
+    "Carry the simple stapler to the Gray colored mat",
+    "the right arm moves the plastic stapler with metallic interior to the Gray mat.",
+    "Stick the blue stapler on the Gray mat.",
+    "Lift the blue stapler for paper fastening to the Gray mat using the right arm",
+    "Grab the plastic stapler with silver mechanism using the right arm and shift it to Gray",
+    "Set the bright blue smooth stapler on the Gray mat with the right arm.",
+    "Pick up the blue stapler with white accents and place it on Gray mat",
+    "the right arm transfers the simple stapler to the Gray mat.",
+    "Pick up the plastic stapler with metallic interior with the right arm and set it on Gray",
+    "Grab the handy blue stapler with metal parts using the right arm and set it on Gray mat.",
+    "Grab the blue rectangular stapler with curves with the right arm and drop it on Gray mat.",
+    "Transfer the bright blue smooth stapler to the Gray mat",
+    "Use the right arm to place the blue stapler with silver staple tray onto the Gray mat",
+    "Move the compact bright blue stapler to the Gray mat.",
+    "Move the blue stapler for paper fastening to the Gray mat with the right arm",
+    "Drop the plastic stapler with metallic interior onto the Gray mat.",
+    "With the right arm, position the blue stapler with silver staple tray on the Gray mat",
+    "Shift the plastic stapler with metallic interior to the Gray mat",
+    "Slide the handy blue stapler with metal parts to the Gray colored mat.",
+    "Use the right arm to grab the blue stapler and place it on Gray mat",
+    "Grab the plastic stapler with metallic interior and drop it on Gray mat.",
+    "Place the blue stapler onto the Gray colored mat.",
+    "the right arm grabs the plastic stapler with metallic interior and sets it on Gray mat.",
+    "Use the right arm to shift the compact bright blue stapler onto the Gray mat",
+    "Move the plastic stapler with metallic interior with the right arm to the Gray mat",
+    "Place the blue stapler onto the Gray colored mat",
+    "the right arm places the compact bright blue stapler on the Gray mat.",
+    "Pick the blue rectangular stapler with curves using the right arm and move it to Gray mat.",
+    "Relocate the blue stapler for paper fastening to the Gray colored mat",
+    "Set the blue stapler with white accents down on the Gray mat",
+    "Use the right arm and place the handy blue stapler with metal parts on Gray mat.",
+    "Drop the compact bright blue stapler carefully on the Gray mat",
+    "Grab the stapler with blue plastic handle, place it on the Gray mat",
+    "Using the right arm, set the blue stapler on the Gray colored mat",
+    "Position the stapler with blue plastic handle on the Gray mat.",
+    "Pick the plastic stapler with silver mechanism up and position it on Gray mat",
+    "Put the blue stapler on the Gray mat",
+    "Pick the plastic stapler with silver mechanism with the right arm and place it on Gray mat",
+    "Lift the blue stapler for paper fastening and drop it onto Gray mat",
+    "Transfer the blue stapler to the Gray colored mat.",
+    "Shift the blue stapler manually to the Gray mat",
+    "With the right arm, move the compact bright blue stapler to the Gray mat",
+    "Place the blue stapler with silver staple tray on the Gray mat using the right arm",
+    "Grab the simple stapler and stick it onto Gray mat",
+    "Set the simple stapler onto the Gray colored mat.",
+    "Carry the compact bright blue stapler and drop it onto the Gray mat",
+    "Stick the blue stapler onto the Gray colored mat.",
+    "Set the blue rectangular stapler with curves down on the Gray mat",
+    "Relocate the stapler with blue plastic handle to the Gray mat.",
+    "Carry the plastic stapler with metallic interior to the Gray colored mat",
+    "the right arm moves the blue stapler with white accents to the Gray mat.",
+    "Stick the blue stapler with silver staple tray on the Gray mat.",
+    "Lift the blue stapler to the Gray mat using the right arm",
+    "Grab the compact bright blue stapler using the right arm and shift it to Gray",
+    "Set the plastic stapler with silver mechanism on the Gray mat with the right arm.",
+    "Pick up the handy blue stapler with metal parts and place it on Gray mat",
+    "the right arm transfers the stapler with blue plastic handle to the Gray mat.",
+    "Pick up the stapler with blue plastic handle with the right arm and set it on Gray",
+    "Grab the blue stapler using the right arm and set it on Gray mat.",
+    "Grab the blue stapler for paper fastening with the right arm and drop it on Gray mat.",
+    "Transfer the blue stapler with silver staple tray to the Gray mat",
+    "Use the right arm to place the blue stapler with white accents onto the Gray mat",
+    "Move the blue stapler to the Gray mat.",
+    "Move the blue stapler with white accents to the Gray mat with the right arm",
+    "Drop the blue stapler with white accents onto the Gray mat.",
+    "With the right arm, position the handy blue stapler with metal parts on the Gray mat",
+    "Shift the blue stapler with white accents to the Gray mat",
+    "Slide the plastic stapler with silver mechanism to the Gray colored mat."
+  ],
+  "unseen": [
+    "Move the hand-size bright blue stapler to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the blue and white stapler and set it on Gray mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the blue and white stapler to the Gray mat.",
+    "Move the blue and white stapler to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the blue and white stapler and set it on Gray mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the blue and white stapler to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the blue and white stapler to the Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray colored mat",
+    "Place the hand-size bright blue stapler on the Gray mat",
+    "Grab the hand-size bright blue stapler and set it on Gray mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat",
+    "Move the rectangular stapler with curved corners to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the rectangular stapler with curved corners and set it on Gray mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the blue and white stapler to the Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the hand-size bright blue stapler and set it on Gray mat",
+    "Use the right arm to move the blue and white stapler to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the blue and white stapler to Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray colored mat",
+    "Place the hand-size bright blue stapler on the Gray mat",
+    "Grab the hand-size bright blue stapler and set it on Gray mat",
+    "Use the right arm to move the blue and white stapler to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the blue and white stapler to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the blue and white stapler to Gray mat.",
+    "Move the blue and white stapler to the Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray colored mat",
+    "Place the hand-size bright blue stapler on the Gray mat",
+    "Grab the rectangular stapler with curved corners and set it on Gray mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat",
+    "Move the hand-size bright blue stapler to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the blue and white stapler and set it on Gray mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat",
+    "Move the hand-size bright blue stapler to the Gray mat",
+    "Place the blue and white stapler on the Gray colored mat.",
+    "Use the right arm to move the blue and white stapler to Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the rectangular stapler with curved corners and set it on Gray mat",
+    "Use the right arm to move the rectangular stapler with curved corners to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat",
+    "Move the blue and white stapler to the Gray mat",
+    "Place the hand-size bright blue stapler on the Gray colored mat.",
+    "Use the right arm to move the rectangular stapler with curved corners to Gray mat.",
+    "Move the hand-size bright blue stapler to the Gray mat.",
+    "Move the rectangular stapler with curved corners to the Gray colored mat",
+    "Place the blue and white stapler on the Gray mat",
+    "Grab the hand-size bright blue stapler and set it on Gray mat",
+    "Use the right arm to move the hand-size bright blue stapler to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat",
+    "Move the hand-size bright blue stapler to the Gray mat",
+    "Place the rectangular stapler with curved corners on the Gray colored mat.",
+    "Use the right arm to move the hand-size bright blue stapler to Gray mat.",
+    "Move the blue and white stapler to the Gray mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the stapler with metallic staple slot with the right arm to the Yellow mat",
+    "Grab the red stapler with the right arm and drop it on Yellow mat.",
+    "Using the right arm, set the stapler with red top on the Yellow colored mat",
+    "Set the office stapler with plastic and metal parts down on the Yellow mat",
+    "Grab the small handheld stapler and stick it onto Yellow mat",
+    "Place the stapler for fastening papers onto the Yellow colored mat",
+    "Stick the desk stapler with red body on the Yellow mat.",
+    "Transfer the red stapler with black base to the Yellow mat",
+    "Position the red top black bottom stapler on the Yellow mat.",
+    "Lift the small handheld stapler and drop it onto Yellow mat",
+    "the right arm transfers the red plastic stapler with smooth top to the Yellow mat.",
+    "With the right arm, move the red stapler with black base to the Yellow mat",
+    "Move the red top black bottom stapler to the Yellow mat.",
+    "With the right arm, position the small handheld stapler on the Yellow mat",
+    "Transfer the red top black bottom stapler to the Yellow colored mat.",
+    "Relocate the manual stapler with black base to the Yellow colored mat",
+    "Grab the desk stapler with red body using the right arm and set it on Yellow mat.",
+    "Pick up the stapler for fastening papers and place it on Yellow mat",
+    "Place the stapler with red top on the Yellow mat using the right arm",
+    "Pick up the manual stapler with black base with the right arm and set it on Yellow",
+    "Use the right arm to place the stapler for fastening papers onto the Yellow mat",
+    "Carry the stapler for fastening papers and drop it onto the Yellow mat",
+    "Set the stapler with metallic staple slot onto the Yellow colored mat.",
+    "Place the stapler with red top onto the Yellow colored mat.",
+    "Use the right arm to grab the red stapler and place it on Yellow mat",
+    "Pick the compact office stapler with the right arm and place it on Yellow mat",
+    "Grab the red stapler using the right arm and shift it to Yellow",
+    "Carry the small handheld stapler to the Yellow colored mat",
+    "Pick the compact office stapler up and position it on Yellow mat",
+    "Drop the stapler with red top carefully on the Yellow mat",
+    "the right arm places the red stapler on the Yellow mat.",
+    "Shift the stapler with red top manually to the Yellow mat",
+    "Relocate the red stapler with black base to the Yellow mat.",
+    "Use the right arm and place the stapler for fastening papers on Yellow mat.",
+    "Shift the manual stapler with black base to the Yellow mat",
+    "Use the right arm to shift the stapler for fastening papers onto the Yellow mat",
+    "Slide the compact office stapler to the Yellow colored mat.",
+    "Grab the desk stapler with red body, place it on the Yellow mat",
+    "Put the stapler with red top on the Yellow mat",
+    "the right arm moves the stapler with red top to the Yellow mat.",
+    "Stick the stapler for fastening papers onto the Yellow colored mat.",
+    "Drop the manual stapler with black base onto the Yellow mat.",
+    "Lift the stapler with metallic staple slot to the Yellow mat using the right arm",
+    "Grab the stapler with metallic staple slot and drop it on Yellow mat.",
+    "Set the stapler for fastening papers down on the Yellow mat",
+    "Set the desk stapler with red body on the Yellow mat with the right arm.",
+    "the right arm grabs the red stapler and sets it on Yellow mat.",
+    "Move the stapler with metallic staple slot to the Yellow mat with the right arm",
+    "Pick the stapler with red top using the right arm and move it to Yellow mat.",
+    "Move the stapler for fastening papers with the right arm to the Yellow mat",
+    "Grab the compact office stapler with the right arm and drop it on Yellow mat.",
+    "Using the right arm, set the compact office stapler on the Yellow colored mat",
+    "Set the small handheld stapler down on the Yellow mat",
+    "Grab the stapler with red top and stick it onto Yellow mat",
+    "Place the compact office stapler onto the Yellow colored mat",
+    "Stick the office stapler with plastic and metal parts on the Yellow mat.",
+    "Transfer the stapler with red top to the Yellow mat",
+    "Position the desk stapler with red body on the Yellow mat.",
+    "Lift the stapler for fastening papers and drop it onto Yellow mat",
+    "the right arm transfers the office stapler with plastic and metal parts to the Yellow mat.",
+    "With the right arm, move the red stapler with black base to the Yellow mat",
+    "Move the stapler with metallic staple slot to the Yellow mat.",
+    "With the right arm, position the small handheld stapler on the Yellow mat",
+    "Transfer the stapler with metallic staple slot to the Yellow colored mat.",
+    "Relocate the red stapler with black base to the Yellow colored mat",
+    "Grab the red top black bottom stapler using the right arm and set it on Yellow mat.",
+    "Pick up the desk stapler with red body and place it on Yellow mat",
+    "Place the red plastic stapler with smooth top on the Yellow mat using the right arm",
+    "Pick up the red top black bottom stapler with the right arm and set it on Yellow",
+    "Use the right arm to place the red plastic stapler with smooth top onto the Yellow mat",
+    "Carry the office stapler with plastic and metal parts and drop it onto the Yellow mat",
+    "Set the red stapler onto the Yellow colored mat.",
+    "Place the red top black bottom stapler onto the Yellow colored mat.",
+    "Use the right arm to grab the desk stapler with red body and place it on Yellow mat",
+    "Pick the stapler for fastening papers with the right arm and place it on Yellow mat",
+    "Grab the compact office stapler using the right arm and shift it to Yellow",
+    "Carry the stapler with metallic staple slot to the Yellow colored mat",
+    "Pick the stapler for fastening papers up and position it on Yellow mat",
+    "Drop the small handheld stapler carefully on the Yellow mat",
+    "the right arm places the red plastic stapler with smooth top on the Yellow mat.",
+    "Shift the desk stapler with red body manually to the Yellow mat",
+    "Relocate the red stapler to the Yellow mat.",
+    "Use the right arm and place the red stapler on Yellow mat.",
+    "Shift the small handheld stapler to the Yellow mat",
+    "Use the right arm to shift the compact office stapler onto the Yellow mat",
+    "Slide the red plastic stapler with smooth top to the Yellow colored mat.",
+    "Grab the desk stapler with red body, place it on the Yellow mat",
+    "Put the red plastic stapler with smooth top on the Yellow mat",
+    "the right arm moves the office stapler with plastic and metal parts to the Yellow mat.",
+    "Stick the stapler with red top onto the Yellow colored mat.",
+    "Drop the red stapler with black base onto the Yellow mat.",
+    "Lift the manual stapler with black base to the Yellow mat using the right arm",
+    "Grab the small handheld stapler and drop it on Yellow mat.",
+    "Set the small handheld stapler down on the Yellow mat",
+    "Set the small handheld stapler on the Yellow mat with the right arm.",
+    "the right arm grabs the red stapler and sets it on Yellow mat.",
+    "Move the office stapler with plastic and metal parts to the Yellow mat with the right arm",
+    "Pick the red plastic stapler with smooth top using the right arm and move it to Yellow mat.",
+    "Move the desk stapler with red body with the right arm to the Yellow mat",
+    "Grab the stapler for fastening papers with the right arm and drop it on Yellow mat."
+  ],
+  "unseen": [
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the right arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat.",
+    "Grab the red plastic stapler and set it on Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Use the right arm to move the red plastic stapler to Yellow mat",
+    "Move the red plastic stapler to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the red plastic stapler to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the red plastic stapler to Yellow mat.",
+    "Grab the paper stapler with curved handle and set it on Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the right arm to move the red stapler with silver chamber to the Yellow mat",
+    "Place the red plastic stapler on the Yellow colored mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat.",
+    "Grab the paper stapler with curved handle and set it on Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow mat",
+    "Move the red plastic stapler to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Move the red stapler with silver chamber to the Yellow mat.",
+    "Use the right arm to move the paper stapler with curved handle to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the right arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red plastic stapler on the Yellow mat",
+    "Move the red plastic stapler to the Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow colored mat.",
+    "Move the paper stapler with curved handle to the Yellow mat.",
+    "Use the right arm to move the red plastic stapler to Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow colored mat",
+    "Use the right arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Use the right arm to move the red plastic stapler to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow mat",
+    "Move the paper stapler with curved handle to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Move the red plastic stapler to the Yellow mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat",
+    "Move the red stapler with silver chamber to the Yellow colored mat",
+    "Use the right arm to move the paper stapler with curved handle to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Use the right arm to move the red stapler with silver chamber to Yellow mat.",
+    "Grab the red stapler with silver chamber and set it on Yellow mat",
+    "Place the red stapler with silver chamber on the Yellow mat",
+    "Move the red plastic stapler to the Yellow mat",
+    "Place the paper stapler with curved handle on the Yellow colored mat.",
+    "Move the red plastic stapler to the Yellow mat."
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic stapler with silver mechanism with the left arm and set it on Black",
+    "With the left arm, position the bright blue smooth stapler on the Black mat",
+    "Move the bright blue smooth stapler to the Black mat.",
+    "Lift the plastic stapler with silver mechanism to the Black mat using the left arm",
+    "Grab the plastic stapler with metallic interior with the left arm and drop it on Black mat.",
+    "Move the blue stapler with the left arm to the Black mat",
+    "the left arm places the plastic stapler with metallic interior on the Black mat.",
+    "Grab the bright blue smooth stapler using the left arm and set it on Black mat.",
+    "Grab the blue stapler for paper fastening using the left arm and shift it to Black",
+    "Pick the simple stapler up and position it on Black mat",
+    "Place the plastic stapler with silver mechanism on the Black mat using the left arm",
+    "Grab the simple stapler, place it on the Black mat",
+    "Carry the blue stapler with white accents to the Black colored mat",
+    "Shift the blue stapler to the Black mat",
+    "Drop the handy blue stapler with metal parts onto the Black mat.",
+    "Transfer the plastic stapler with silver mechanism to the Black mat",
+    "Relocate the blue stapler with silver staple tray to the Black colored mat",
+    "the left arm moves the plastic stapler with silver mechanism to the Black mat.",
+    "Use the left arm to place the handy blue stapler with metal parts onto the Black mat",
+    "Grab the bright blue smooth stapler and drop it on Black mat.",
+    "the left arm transfers the compact bright blue stapler to the Black mat.",
+    "Set the blue stapler for paper fastening down on the Black mat",
+    "Drop the blue rectangular stapler with curves carefully on the Black mat",
+    "Lift the blue stapler for paper fastening and drop it onto Black mat",
+    "Pick the simple stapler with the left arm and place it on Black mat",
+    "Pick up the simple stapler and place it on Black mat",
+    "Place the handy blue stapler with metal parts onto the Black colored mat",
+    "Use the left arm and place the bright blue smooth stapler on Black mat.",
+    "Relocate the compact bright blue stapler to the Black mat.",
+    "With the left arm, move the plastic stapler with metallic interior to the Black mat",
+    "Position the handy blue stapler with metal parts on the Black mat.",
+    "Set the blue stapler down on the Black mat",
+    "Place the blue stapler for paper fastening onto the Black colored mat.",
+    "Stick the blue stapler with silver staple tray on the Black mat.",
+    "Shift the compact bright blue stapler manually to the Black mat",
+    "Set the plastic stapler with metallic interior on the Black mat with the left arm.",
+    "Move the compact bright blue stapler to the Black mat with the left arm",
+    "Grab the compact bright blue stapler and stick it onto Black mat",
+    "Set the bright blue smooth stapler onto the Black colored mat.",
+    "Use the left arm to grab the compact bright blue stapler and place it on Black mat",
+    "Stick the blue stapler for paper fastening onto the Black colored mat.",
+    "Use the left arm to shift the blue stapler with white accents onto the Black mat",
+    "the left arm grabs the compact bright blue stapler and sets it on Black mat.",
+    "Using the left arm, set the blue rectangular stapler with curves on the Black colored mat",
+    "Transfer the compact bright blue stapler to the Black colored mat.",
+    "Slide the blue stapler with silver staple tray to the Black colored mat.",
+    "Carry the blue stapler with silver staple tray and drop it onto the Black mat",
+    "Put the simple stapler on the Black mat",
+    "Pick the bright blue smooth stapler using the left arm and move it to Black mat.",
+    "Pick up the compact bright blue stapler with the left arm and set it on Black",
+    "With the left arm, position the plastic stapler with metallic interior on the Black mat",
+    "Move the blue stapler to the Black mat.",
+    "Lift the bright blue smooth stapler to the Black mat using the left arm",
+    "Grab the plastic stapler with silver mechanism with the left arm and drop it on Black mat.",
+    "Move the plastic stapler with metallic interior with the left arm to the Black mat",
+    "the left arm places the blue stapler with white accents on the Black mat.",
+    "Grab the stapler with blue plastic handle using the left arm and set it on Black mat.",
+    "Grab the bright blue smooth stapler using the left arm and shift it to Black",
+    "Pick the blue stapler for paper fastening up and position it on Black mat",
+    "Place the blue stapler for paper fastening on the Black mat using the left arm",
+    "Grab the blue stapler with white accents, place it on the Black mat",
+    "Carry the handy blue stapler with metal parts to the Black colored mat",
+    "Shift the blue stapler for paper fastening to the Black mat",
+    "Drop the plastic stapler with silver mechanism onto the Black mat.",
+    "Transfer the blue stapler to the Black mat",
+    "Relocate the blue rectangular stapler with curves to the Black colored mat",
+    "the left arm moves the handy blue stapler with metal parts to the Black mat.",
+    "Use the left arm to place the blue rectangular stapler with curves onto the Black mat",
+    "Grab the blue stapler with silver staple tray and drop it on Black mat.",
+    "the left arm transfers the blue stapler with white accents to the Black mat.",
+    "Set the blue stapler for paper fastening down on the Black mat",
+    "Drop the plastic stapler with silver mechanism carefully on the Black mat",
+    "Lift the plastic stapler with silver mechanism and drop it onto Black mat",
+    "Pick the plastic stapler with metallic interior with the left arm and place it on Black mat",
+    "Pick up the stapler with blue plastic handle and place it on Black mat",
+    "Place the stapler with blue plastic handle onto the Black colored mat",
+    "Use the left arm and place the bright blue smooth stapler on Black mat.",
+    "Relocate the compact bright blue stapler to the Black mat.",
+    "With the left arm, move the plastic stapler with metallic interior to the Black mat",
+    "Position the blue stapler for paper fastening on the Black mat.",
+    "Set the blue stapler with silver staple tray down on the Black mat",
+    "Place the bright blue smooth stapler onto the Black colored mat.",
+    "Stick the handy blue stapler with metal parts on the Black mat.",
+    "Shift the stapler with blue plastic handle manually to the Black mat",
+    "Set the blue stapler for paper fastening on the Black mat with the left arm.",
+    "Move the blue rectangular stapler with curves to the Black mat with the left arm",
+    "Grab the compact bright blue stapler and stick it onto Black mat",
+    "Set the blue stapler with white accents onto the Black colored mat.",
+    "Use the left arm to grab the plastic stapler with metallic interior and place it on Black mat",
+    "Stick the simple stapler onto the Black colored mat.",
+    "Use the left arm to shift the plastic stapler with silver mechanism onto the Black mat",
+    "the left arm grabs the plastic stapler with silver mechanism and sets it on Black mat.",
+    "Using the left arm, set the blue stapler with white accents on the Black colored mat",
+    "Transfer the compact bright blue stapler to the Black colored mat.",
+    "Slide the handy blue stapler with metal parts to the Black colored mat.",
+    "Carry the stapler with blue plastic handle and drop it onto the Black mat",
+    "Put the stapler with blue plastic handle on the Black mat",
+    "Pick the blue stapler with silver staple tray using the left arm and move it to Black mat.",
+    "Pick up the blue stapler with the left arm and set it on Black",
+    "With the left arm, position the plastic stapler with metallic interior on the Black mat"
+  ],
+  "unseen": [
+    "Place the blue and white stapler on the Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat",
+    "Move the hand-size bright blue stapler to the Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Move the blue and white stapler to the Black colored mat",
+    "Grab the hand-size bright blue stapler and set it on Black mat",
+    "Place the hand-size bright blue stapler on the Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the hand-size bright blue stapler to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the hand-size bright blue stapler to Black mat",
+    "Move the hand-size bright blue stapler to the Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Move the blue and white stapler to the Black colored mat",
+    "Grab the rectangular stapler with curved corners and set it on Black mat",
+    "Place the blue and white stapler on the Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the hand-size bright blue stapler on the Black colored mat.",
+    "Use the left arm to move the blue and white stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat",
+    "Move the hand-size bright blue stapler to the Black mat.",
+    "Place the hand-size bright blue stapler on the Black colored mat.",
+    "Move the blue and white stapler to the Black colored mat",
+    "Grab the hand-size bright blue stapler and set it on Black mat",
+    "Place the hand-size bright blue stapler on the Black mat",
+    "Move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat",
+    "Move the blue and white stapler to the Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Move the blue and white stapler to the Black colored mat",
+    "Grab the blue and white stapler and set it on Black mat",
+    "Place the hand-size bright blue stapler on the Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the hand-size bright blue stapler to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Move the rectangular stapler with curved corners to the Black colored mat",
+    "Grab the hand-size bright blue stapler and set it on Black mat",
+    "Place the blue and white stapler on the Black mat",
+    "Move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Use the left arm to move the blue and white stapler to the Black mat",
+    "Use the left arm to move the hand-size bright blue stapler to Black mat",
+    "Move the blue and white stapler to the Black mat.",
+    "Place the hand-size bright blue stapler on the Black colored mat.",
+    "Move the rectangular stapler with curved corners to the Black colored mat",
+    "Grab the rectangular stapler with curved corners and set it on Black mat",
+    "Place the rectangular stapler with curved corners on the Black mat",
+    "Move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Use the left arm to move the hand-size bright blue stapler to the Black mat",
+    "Use the left arm to move the hand-size bright blue stapler to Black mat",
+    "Move the blue and white stapler to the Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Move the rectangular stapler with curved corners to the Black colored mat",
+    "Grab the blue and white stapler and set it on Black mat",
+    "Place the hand-size bright blue stapler on the Black mat",
+    "Move the blue and white stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Move the hand-size bright blue stapler to the Black colored mat",
+    "Grab the hand-size bright blue stapler and set it on Black mat",
+    "Place the blue and white stapler on the Black mat",
+    "Move the blue and white stapler to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Move the blue and white stapler to the Black colored mat",
+    "Grab the rectangular stapler with curved corners and set it on Black mat",
+    "Place the rectangular stapler with curved corners on the Black mat",
+    "Move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the rectangular stapler with curved corners to Black mat.",
+    "Place the rectangular stapler with curved corners on the Black colored mat.",
+    "Use the left arm to move the rectangular stapler with curved corners to the Black mat",
+    "Use the left arm to move the blue and white stapler to Black mat",
+    "Move the blue and white stapler to the Black mat.",
+    "Place the blue and white stapler on the Black colored mat.",
+    "Move the hand-size bright blue stapler to the Black colored mat",
+    "Grab the rectangular stapler with curved corners and set it on Black mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the stapler with orange top lever to the Gray mat.",
+    "Using the right arm, set the stapler for fastening papers on the Gray colored mat",
+    "With the right arm, move the white stapler with rounded design to the Gray mat",
+    "Transfer the stapler with rounded edges to the Gray colored mat.",
+    "Shift the small office stapler to the Gray mat",
+    "Put the stapler with orange button on the Gray mat",
+    "Shift the plastic and metal stapler manually to the Gray mat",
+    "Carry the handheld stapler to the Gray colored mat",
+    "Set the white body stapler with accents onto the Gray colored mat.",
+    "Place the stapler with rounded edges onto the Gray colored mat.",
+    "Pick the handheld stapler using the right arm and move it to Gray mat.",
+    "the right arm transfers the small office stapler to the Gray mat.",
+    "Move the plastic and metal stapler to the Gray mat with the right arm",
+    "Set the modern design stapler down on the Gray mat",
+    "Set the modern design stapler down on the Gray mat",
+    "Grab the white stapler with rounded design and drop it on Gray mat.",
+    "Place the white stapler with rounded design onto the Gray colored mat",
+    "the right arm grabs the stapler with orange button and sets it on Gray mat.",
+    "Relocate the white stapler with rounded design to the Gray colored mat",
+    "Place the stapler for fastening papers on the Gray mat using the right arm",
+    "Grab the white stapler with rounded design with the right arm and drop it on Gray mat.",
+    "Pick the paper stapler with silver tray up and position it on Gray mat",
+    "Stick the smooth plastic stapler onto the Gray colored mat.",
+    "Pick up the white body stapler with accents and place it on Gray mat",
+    "Slide the white stapler with rounded design to the Gray colored mat.",
+    "Drop the paper stapler with silver tray onto the Gray mat.",
+    "Use the right arm to grab the handheld stapler and place it on Gray mat",
+    "the right arm places the smooth plastic stapler on the Gray mat.",
+    "Grab the modern design stapler and stick it onto Gray mat",
+    "the right arm moves the stapler with rounded edges to the Gray mat.",
+    "Pick the stapler with orange button with the right arm and place it on Gray mat",
+    "Carry the stapler with orange top lever and drop it onto the Gray mat",
+    "Lift the modern design stapler and drop it onto Gray mat",
+    "Grab the plastic and metal stapler using the right arm and shift it to Gray",
+    "With the right arm, position the paper stapler with silver tray on the Gray mat",
+    "Position the plastic and metal stapler on the Gray mat.",
+    "Pick up the modern design stapler with the right arm and set it on Gray",
+    "Lift the stapler for fastening papers to the Gray mat using the right arm",
+    "Use the right arm and place the plastic and metal stapler on Gray mat.",
+    "Use the right arm to shift the white stapler with rounded design onto the Gray mat",
+    "Move the plastic and metal stapler to the Gray mat.",
+    "Stick the plastic and metal stapler on the Gray mat.",
+    "Transfer the smooth plastic stapler to the Gray mat",
+    "Grab the stapler with rounded edges, place it on the Gray mat",
+    "Set the stapler with orange button on the Gray mat with the right arm.",
+    "Move the handheld stapler with the right arm to the Gray mat",
+    "Use the right arm to place the stapler with rounded edges onto the Gray mat",
+    "Grab the white body stapler with accents using the right arm and set it on Gray mat.",
+    "Drop the white stapler with rounded design carefully on the Gray mat",
+    "Relocate the white stapler with rounded design to the Gray mat.",
+    "Using the right arm, set the plastic and metal stapler on the Gray colored mat",
+    "With the right arm, move the small office stapler to the Gray mat",
+    "Transfer the white stapler with rounded design to the Gray colored mat.",
+    "Shift the stapler with orange button to the Gray mat",
+    "Put the stapler with rounded edges on the Gray mat",
+    "Shift the white stapler with rounded design manually to the Gray mat",
+    "Carry the paper stapler with silver tray to the Gray colored mat",
+    "Set the paper stapler with silver tray onto the Gray colored mat.",
+    "Place the stapler with rounded edges onto the Gray colored mat.",
+    "Pick the stapler with rounded edges using the right arm and move it to Gray mat.",
+    "the right arm transfers the stapler with orange top lever to the Gray mat.",
+    "Move the plastic and metal stapler to the Gray mat with the right arm",
+    "Set the white stapler with rounded design down on the Gray mat",
+    "Set the modern design stapler down on the Gray mat",
+    "Grab the paper stapler with silver tray and drop it on Gray mat.",
+    "Place the handheld stapler onto the Gray colored mat",
+    "the right arm grabs the stapler with rounded edges and sets it on Gray mat.",
+    "Relocate the paper stapler with silver tray to the Gray colored mat",
+    "Place the smooth plastic stapler on the Gray mat using the right arm",
+    "Grab the paper stapler with silver tray with the right arm and drop it on Gray mat.",
+    "Pick the small office stapler up and position it on Gray mat",
+    "Stick the plastic and metal stapler onto the Gray colored mat.",
+    "Pick up the smooth plastic stapler and place it on Gray mat",
+    "Slide the white stapler with rounded design to the Gray colored mat.",
+    "Drop the stapler for fastening papers onto the Gray mat.",
+    "Use the right arm to grab the stapler with orange top lever and place it on Gray mat",
+    "the right arm places the stapler with orange button on the Gray mat.",
+    "Grab the smooth plastic stapler and stick it onto Gray mat",
+    "the right arm moves the modern design stapler to the Gray mat.",
+    "Pick the paper stapler with silver tray with the right arm and place it on Gray mat",
+    "Carry the handheld stapler and drop it onto the Gray mat",
+    "Lift the small office stapler and drop it onto Gray mat",
+    "Grab the white stapler with rounded design using the right arm and shift it to Gray",
+    "With the right arm, position the stapler with orange top lever on the Gray mat",
+    "Position the paper stapler with silver tray on the Gray mat.",
+    "Pick up the stapler with orange button with the right arm and set it on Gray",
+    "Lift the stapler for fastening papers to the Gray mat using the right arm",
+    "Use the right arm and place the handheld stapler on Gray mat.",
+    "Use the right arm to shift the white stapler with rounded design onto the Gray mat",
+    "Move the handheld stapler to the Gray mat.",
+    "Stick the handheld stapler on the Gray mat.",
+    "Transfer the stapler with orange button to the Gray mat",
+    "Grab the handheld stapler, place it on the Gray mat",
+    "Set the white body stapler with accents on the Gray mat with the right arm.",
+    "Move the smooth plastic stapler with the right arm to the Gray mat",
+    "Use the right arm to place the smooth plastic stapler onto the Gray mat",
+    "Grab the stapler with rounded edges using the right arm and set it on Gray mat.",
+    "Drop the modern design stapler carefully on the Gray mat",
+    "Relocate the stapler with orange top lever to the Gray mat.",
+    "Using the right arm, set the plastic and metal stapler on the Gray colored mat"
+  ],
+  "unseen": [
+    "Move the white stapler with metal tray to the Gray mat",
+    "Place the white stapler on the Gray mat",
+    "Move the white stapler with metal tray to the Gray colored mat",
+    "Place the white stapler with metal tray on the Gray colored mat.",
+    "Place the compact stapler on the Gray colored mat.",
+    "Use the right arm to move the white stapler to Gray mat.",
+    "Use the right arm to move the compact stapler to Gray mat",
+    "Move the compact stapler to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the compact stapler to the Gray mat",
+    "Move the white stapler to the Gray mat",
+    "Place the compact stapler on the Gray mat",
+    "Move the white stapler with metal tray to the Gray colored mat",
+    "Place the compact stapler on the Gray colored mat.",
+    "Place the white stapler with metal tray on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat",
+    "Move the white stapler to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the compact stapler to the Gray mat",
+    "Move the white stapler with metal tray to the Gray mat",
+    "Place the white stapler on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the white stapler on the Gray colored mat.",
+    "Place the white stapler on the Gray colored mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat.",
+    "Use the right arm to move the white stapler to Gray mat",
+    "Move the white stapler with metal tray to the Gray mat.",
+    "Grab the white stapler and set it on Gray mat",
+    "Use the right arm to move the white stapler to the Gray mat",
+    "Move the white stapler with metal tray to the Gray mat",
+    "Place the white stapler with metal tray on the Gray mat",
+    "Move the white stapler with metal tray to the Gray colored mat",
+    "Place the white stapler on the Gray colored mat.",
+    "Place the compact stapler on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler to Gray mat",
+    "Move the white stapler to the Gray mat.",
+    "Grab the compact stapler and set it on Gray mat",
+    "Use the right arm to move the white stapler with metal tray to the Gray mat",
+    "Move the compact stapler to the Gray mat",
+    "Place the white stapler with metal tray on the Gray mat",
+    "Move the white stapler with metal tray to the Gray colored mat",
+    "Place the white stapler on the Gray colored mat.",
+    "Place the white stapler on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat",
+    "Move the compact stapler to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the white stapler with metal tray to the Gray mat",
+    "Move the compact stapler to the Gray mat",
+    "Place the white stapler on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the compact stapler on the Gray colored mat.",
+    "Place the compact stapler on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat",
+    "Move the white stapler to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the white stapler with metal tray to the Gray mat",
+    "Move the compact stapler to the Gray mat",
+    "Place the white stapler with metal tray on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the white stapler with metal tray on the Gray colored mat.",
+    "Place the compact stapler on the Gray colored mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat.",
+    "Use the right arm to move the white stapler to Gray mat",
+    "Move the white stapler to the Gray mat.",
+    "Grab the compact stapler and set it on Gray mat",
+    "Use the right arm to move the white stapler to the Gray mat",
+    "Move the compact stapler to the Gray mat",
+    "Place the white stapler with metal tray on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the compact stapler on the Gray colored mat.",
+    "Place the compact stapler on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler to Gray mat",
+    "Move the compact stapler to the Gray mat.",
+    "Grab the compact stapler and set it on Gray mat",
+    "Use the right arm to move the white stapler to the Gray mat",
+    "Move the white stapler to the Gray mat",
+    "Place the white stapler on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the white stapler on the Gray colored mat.",
+    "Place the white stapler with metal tray on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the compact stapler to Gray mat",
+    "Move the white stapler with metal tray to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the white stapler with metal tray to the Gray mat",
+    "Move the white stapler to the Gray mat",
+    "Place the compact stapler on the Gray mat",
+    "Move the white stapler to the Gray colored mat",
+    "Place the compact stapler on the Gray colored mat.",
+    "Place the white stapler on the Gray colored mat.",
+    "Use the right arm to move the compact stapler to Gray mat.",
+    "Use the right arm to move the white stapler with metal tray to Gray mat",
+    "Move the compact stapler to the Gray mat.",
+    "Grab the white stapler with metal tray and set it on Gray mat",
+    "Use the right arm to move the white stapler to the Gray mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact blue stapler and stick it onto Magenta mat",
+    "Pick up the small stapler with the right arm and set it on Magenta",
+    "Grab the plastic blue stapler with metal parts using the right arm and shift it to Magenta",
+    "Place the small lightweight blue stapler onto the Magenta colored mat",
+    "Position the blue stapler with curved design on the Magenta mat.",
+    "Drop the metal and plastic stapler carefully on the Magenta mat",
+    "Slide the small lightweight blue stapler to the Magenta colored mat.",
+    "Drop the stapler with black top section onto the Magenta mat.",
+    "Stick the metal and plastic stapler on the Magenta mat.",
+    "Set the plastic blue stapler with metal parts down on the Magenta mat",
+    "Set the blue stapler with curved design onto the Magenta colored mat.",
+    "Transfer the small stapler to the Magenta mat",
+    "Put the stapler with black top section on the Magenta mat",
+    "Use the right arm and place the stapler for stapling paper on Magenta mat.",
+    "Relocate the stapler with white metallic components to the Magenta mat.",
+    "Grab the small lightweight blue stapler using the right arm and set it on Magenta mat.",
+    "Grab the blue stapler with curved design and drop it on Magenta mat.",
+    "Place the handheld stapler on the Magenta mat using the right arm",
+    "Pick the small lightweight blue stapler using the right arm and move it to Magenta mat.",
+    "Use the right arm to place the small stapler onto the Magenta mat",
+    "Move the blue stapler with curved design with the right arm to the Magenta mat",
+    "With the right arm, move the plastic blue stapler with metal parts to the Magenta mat",
+    "the right arm grabs the stapler with black top section and sets it on Magenta mat.",
+    "Pick the metal and plastic stapler up and position it on Magenta mat",
+    "Move the compact blue stapler to the Magenta mat.",
+    "Stick the handheld stapler onto the Magenta colored mat.",
+    "Set the compact blue stapler on the Magenta mat with the right arm.",
+    "Transfer the plastic blue stapler with metal parts to the Magenta colored mat.",
+    "the right arm moves the compact blue stapler to the Magenta mat.",
+    "Shift the stapler with black top section manually to the Magenta mat",
+    "Pick the small lightweight blue stapler with the right arm and place it on Magenta mat",
+    "Move the stapler with black top section to the Magenta mat with the right arm",
+    "Using the right arm, set the handheld stapler on the Magenta colored mat",
+    "the right arm transfers the compact blue stapler to the Magenta mat.",
+    "Carry the small lightweight blue stapler and drop it onto the Magenta mat",
+    "Lift the small lightweight blue stapler to the Magenta mat using the right arm",
+    "Grab the compact blue stapler with the right arm and drop it on Magenta mat.",
+    "Set the compact blue stapler down on the Magenta mat",
+    "Lift the handheld stapler and drop it onto Magenta mat",
+    "the right arm places the stapler for stapling paper on the Magenta mat.",
+    "With the right arm, position the blue stapler with curved design on the Magenta mat",
+    "Use the right arm to shift the handheld stapler onto the Magenta mat",
+    "Carry the small lightweight blue stapler to the Magenta colored mat",
+    "Use the right arm to grab the stapler with white metallic components and place it on Magenta mat",
+    "Pick up the stapler for stapling paper and place it on Magenta mat",
+    "Shift the blue stapler with curved design to the Magenta mat",
+    "Place the small lightweight blue stapler onto the Magenta colored mat.",
+    "Grab the plastic blue stapler with metal parts, place it on the Magenta mat",
+    "Relocate the blue stapler to the Magenta colored mat",
+    "Grab the compact blue stapler and stick it onto Magenta mat",
+    "Pick up the blue stapler with black handle area with the right arm and set it on Magenta",
+    "Grab the stapler for stapling paper using the right arm and shift it to Magenta",
+    "Place the small stapler onto the Magenta colored mat",
+    "Position the stapler with black top section on the Magenta mat.",
+    "Drop the compact blue stapler carefully on the Magenta mat",
+    "Slide the handheld stapler to the Magenta colored mat.",
+    "Drop the blue stapler with curved design onto the Magenta mat.",
+    "Stick the stapler with white metallic components on the Magenta mat.",
+    "Set the stapler with white metallic components down on the Magenta mat",
+    "Set the stapler with white metallic components onto the Magenta colored mat.",
+    "Transfer the stapler for stapling paper to the Magenta mat",
+    "Put the stapler with black top section on the Magenta mat",
+    "Use the right arm and place the small lightweight blue stapler on Magenta mat.",
+    "Relocate the blue stapler with curved design to the Magenta mat.",
+    "Grab the plastic blue stapler with metal parts using the right arm and set it on Magenta mat.",
+    "Grab the blue stapler with black handle area and drop it on Magenta mat.",
+    "Place the metal and plastic stapler on the Magenta mat using the right arm",
+    "Pick the stapler with white metallic components using the right arm and move it to Magenta mat.",
+    "Use the right arm to place the stapler with white metallic components onto the Magenta mat",
+    "Move the compact blue stapler with the right arm to the Magenta mat",
+    "With the right arm, move the plastic blue stapler with metal parts to the Magenta mat",
+    "the right arm grabs the small stapler and sets it on Magenta mat.",
+    "Pick the compact blue stapler up and position it on Magenta mat",
+    "Move the small lightweight blue stapler to the Magenta mat.",
+    "Stick the plastic blue stapler with metal parts onto the Magenta colored mat.",
+    "Set the handheld stapler on the Magenta mat with the right arm.",
+    "Transfer the handheld stapler to the Magenta colored mat.",
+    "the right arm moves the small stapler to the Magenta mat.",
+    "Shift the stapler with white metallic components manually to the Magenta mat",
+    "Pick the compact blue stapler with the right arm and place it on Magenta mat",
+    "Move the plastic blue stapler with metal parts to the Magenta mat with the right arm",
+    "Using the right arm, set the metal and plastic stapler on the Magenta colored mat",
+    "the right arm transfers the blue stapler with curved design to the Magenta mat.",
+    "Carry the stapler for stapling paper and drop it onto the Magenta mat",
+    "Lift the stapler with black top section to the Magenta mat using the right arm",
+    "Grab the stapler with white metallic components with the right arm and drop it on Magenta mat.",
+    "Set the metal and plastic stapler down on the Magenta mat",
+    "Lift the metal and plastic stapler and drop it onto Magenta mat",
+    "the right arm places the blue stapler with curved design on the Magenta mat.",
+    "With the right arm, position the stapler with white metallic components on the Magenta mat",
+    "Use the right arm to shift the small stapler onto the Magenta mat",
+    "Carry the small stapler to the Magenta colored mat",
+    "Use the right arm to grab the stapler for stapling paper and place it on Magenta mat",
+    "Pick up the blue stapler with curved design and place it on Magenta mat",
+    "Shift the metal and plastic stapler to the Magenta mat",
+    "Place the stapler for stapling paper onto the Magenta colored mat.",
+    "Grab the metal and plastic stapler, place it on the Magenta mat",
+    "Relocate the blue stapler with black handle area to the Magenta colored mat",
+    "Grab the stapler with white metallic components and stick it onto Magenta mat",
+    "Pick up the blue stapler with the right arm and set it on Magenta"
+  ],
+  "unseen": [
+    "Move the plastic stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat",
+    "Move the plastic stapler to the Magenta mat.",
+    "Grab the stapler with white loading section and set it on Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the blue stapler with smooth finish to the Magenta mat",
+    "Place the plastic stapler on the Magenta mat",
+    "Move the stapler with white loading section to the Magenta colored mat",
+    "Use the right arm to move the stapler with white loading section to Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to Magenta mat.",
+    "Move the blue stapler with smooth finish to the Magenta mat",
+    "Place the stapler with white loading section on the Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta colored mat",
+    "Use the right arm to move the plastic stapler to Magenta mat",
+    "Move the stapler with white loading section to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the stapler with white loading section to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the plastic stapler to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta mat",
+    "Move the stapler with white loading section to the Magenta colored mat",
+    "Use the right arm to move the plastic stapler to Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta mat.",
+    "Grab the plastic stapler and set it on Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to the Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to Magenta mat.",
+    "Move the plastic stapler to the Magenta mat",
+    "Place the plastic stapler on the Magenta mat",
+    "Move the plastic stapler to the Magenta colored mat",
+    "Use the right arm to move the stapler with white loading section to Magenta mat",
+    "Move the stapler with white loading section to the Magenta mat.",
+    "Grab the plastic stapler and set it on Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the stapler with white loading section to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the blue stapler with smooth finish to the Magenta mat",
+    "Place the stapler with white loading section on the Magenta mat",
+    "Move the plastic stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta mat.",
+    "Grab the plastic stapler and set it on Magenta mat",
+    "Place the stapler with white loading section on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the stapler with white loading section to the Magenta mat",
+    "Place the plastic stapler on the Magenta mat",
+    "Move the stapler with white loading section to the Magenta colored mat",
+    "Use the right arm to move the stapler with white loading section to Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to the Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the blue stapler with smooth finish to the Magenta mat",
+    "Place the plastic stapler on the Magenta mat",
+    "Move the plastic stapler to the Magenta colored mat",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat",
+    "Move the stapler with white loading section to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the stapler with white loading section to the Magenta mat",
+    "Place the stapler with white loading section on the Magenta mat",
+    "Move the blue stapler with smooth finish to the Magenta colored mat",
+    "Use the right arm to move the stapler with white loading section to Magenta mat",
+    "Move the stapler with white loading section to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the plastic stapler on the Magenta colored mat.",
+    "Use the right arm to move the plastic stapler to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the stapler with white loading section to Magenta mat.",
+    "Move the stapler with white loading section to the Magenta mat",
+    "Place the stapler with white loading section on the Magenta mat",
+    "Move the stapler with white loading section to the Magenta colored mat",
+    "Use the right arm to move the plastic stapler to Magenta mat",
+    "Move the stapler with white loading section to the Magenta mat.",
+    "Grab the blue stapler with smooth finish and set it on Magenta mat",
+    "Place the stapler with white loading section on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to the Magenta mat",
+    "Place the blue stapler with smooth finish on the Magenta colored mat.",
+    "Use the right arm to move the blue stapler with smooth finish to Magenta mat.",
+    "Move the stapler with white loading section to the Magenta mat",
+    "Place the stapler with white loading section on the Magenta mat"
+  ]
+}

move_stapler_pad/demo_clean_ep20_vidar/scene_info.json

@@ -0,0 +1,242 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base1",
+            "{B}": "Gray",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base0",
+            "{B}": "Magenta",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base6",
+            "{B}": "Yellow",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base4",
+            "{B}": "Yellow",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base6",
+            "{B}": "Red",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base6",
+            "{B}": "Gray",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base4",
+            "{B}": "Yellow",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base6",
+            "{B}": "Black",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base3",
+            "{B}": "Gray",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base2",
+            "{B}": "Magenta",
+            "{a}": "right"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base0",
+            "{B}": "Blue",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base3",
+            "{B}": "Yellow",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base0",
+            "{B}": "Blue",
+            "{a}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base4",
+            "{B}": "Cyan",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base5",
+            "{B}": "Blue",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base0",
+            "{B}": "Magenta",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base5",
+            "{B}": "Yellow",
+            "{a}": "right"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base3",
+            "{B}": "Black",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base2",
+            "{B}": "Yellow",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base3",
+            "{B}": "Yellow",
+            "{a}": "right"
+        }
+    }
+}

move_stapler_pad/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 5 6 8 9 10 11 12 13 14 15 16 17 18 19 20 22 23 

open_microwave/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Access the inside by opening the microwave with knobs.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Pull the handle of the microwave to open it.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Open the microwave by pulling with the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the microwave by pulling its handle.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Pull and open the gray microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Get the countertop microwave open.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Use the left arm to grab and pull the medium microwave.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Engage the microwave's handle and open it.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Activate the door to open the microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Engage the left arm to open the countertop microwave.",
+    "Pull and open the microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Get the microwave with textured top panel open.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Grip the microwave's handle and pull it open.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Pull to open the microwave with knobs.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the microwave's handle to open it.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Activate the door to open the rectangular microwave.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the door of the microwave to open it."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Pull the handle of the microwave with the left arm.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Pull the handle to open the gray microwave.",
+    "Open the medium microwave by grasping its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Get the medium microwave open.",
+    "Open the medium microwave by pulling its handle.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the door to open the microwave.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Use the left arm to pull the gray microwave open.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Use the handle to open the rectangular microwave.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Activate the door to open the medium microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the microwave's handle to open it.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Get the rectangular microwave open.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Access the inside by opening the microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the microwave to open it.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Grab the handle and open the medium microwave.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the handle to open the medium microwave.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Get the rectangular microwave open.",
+    "Open the gray microwave by pulling its handle.",
+    "Access the inside by opening the rectangular microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull the door to open the microwave.",
+    "Pull and open the microwave with textured top panel.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Engage the microwave with patterned top and knobs's handle and open it."
+  ],
+  "unseen": [
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull open the door of the dark gray kitchen microwave using the left arm.",
+    "Use the left arm to pull open the door of the rectangular microwave with clear glass panel.",
+    "Handle the dark gray slanted microwave box and open it with the left arm.",
+    "Use the left arm to pull the dark gray slanted microwave box open.",
+    "Use the left arm to engage the microwave for heating food's opening mechanism.",
+    "Grip the gray and glass microwave for cooking's handle and pull it open.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Use the left arm to open the rectangular microwave with clear glass panel by pulling.",
+    "Utilize the left arm to pull the microwave open.",
+    "Access the inside by opening the microwave with glossy dark gray finish.",
+    "Pull and open the gray and glass microwave for cooking.",
+    "Use the handle to open the rectangular gray microwave.",
+    "Open the dark gray slanted microwave box by pulling on its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Pull the door to open the microwave for heating food.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Activate the door to open the dark gray slanted microwave box.",
+    "Pull the gray and glass microwave for cooking's handle to open it.",
+    "Open the microwave for heating food using the left arm.",
+    "Use the left arm to grab and open the microwave with glossy dark gray finish.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with smooth surface.",
+    "Engage the medium microwave with slanted sides's handle and open it.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Open the gray and glass microwave for cooking by pulling with the left arm.",
+    "Pull the the microwave with smooth surface's handle using the left arm.",
+    "Grab and pull the dark gray slanted microwave box using the left arm.",
+    "Engage the microwave for heating food using the left arm to open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the door of the rectangular microwave with clear glass panel to open it.",
+    "Grasp the microwave with smooth surface's handle and pull to open.",
+    "Pull the handle of the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Open the dark gray kitchen microwave by grasping its handle.",
+    "Pull open the door of the dark gray slanted microwave box using the left arm.",
+    "Use the left arm to pull open the door of the microwave with glass top.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Use the left arm to engage the gray appliance with transparent glass top's opening mechanism.",
+    "Grip the microwave with smooth surface's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to open the microwave with smooth surface by pulling.",
+    "Utilize the left arm to pull the gray appliance with transparent glass top open.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull and open the microwave.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Open the microwave with smooth surface by pulling on its handle.",
+    "Grab the handle and open the microwave with glossy dark gray finish.",
+    "Open the microwave with glossy dark gray finish by pulling its handle.",
+    "Pull the door to open the dark gray slanted microwave box.",
+    "Pull to open the medium microwave with slanted sides.",
+    "Engage the left arm to open the dark gray kitchen microwave.",
+    "Get the gray appliance with transparent glass top open.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Activate the door to open the gray appliance with transparent glass top.",
+    "Pull the dark gray kitchen microwave's handle to open it.",
+    "Open the microwave with glass top using the left arm.",
+    "Use the left arm to grab and open the medium microwave with slanted sides.",
+    "Open the gray appliance with transparent glass top by pulling its door with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Open the rectangular gray microwave by pulling with the left arm.",
+    "Pull the the medium microwave with slanted sides's handle using the left arm.",
+    "Grab and pull the rectangular gray microwave using the left arm.",
+    "Engage the rectangular microwave with clear glass panel using the left arm to open.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull the handle to open the microwave with glossy dark gray finish.",
+    "Pull the door of the dark gray slanted microwave box to open it.",
+    "Grasp the microwave with glass top's handle and pull to open.",
+    "Pull the handle of the microwave with smooth surface with the left arm.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the dark gray slanted microwave box by grasping its handle.",
+    "Pull open the door of the rectangular gray microwave using the left arm.",
+    "Use the left arm to pull open the door of the dark gray slanted microwave box.",
+    "Handle the dark gray kitchen microwave and open it with the left arm.",
+    "Use the left arm to pull the medium microwave with slanted sides open.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Grip the gray appliance with transparent glass top's handle and pull it open.",
+    "Grab the handle and open the microwave with glossy dark gray finish with the left arm.",
+    "Use the left arm to open the microwave with glass top by pulling.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Access the inside by opening the rectangular microwave with clear glass panel.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Use the handle to open the microwave for heating food.",
+    "Open the microwave with glass top by pulling on its handle.",
+    "Grab the handle and open the gray appliance with transparent glass top.",
+    "Open the dark gray slanted microwave box by pulling its handle.",
+    "Pull the door to open the microwave with glossy dark gray finish.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Engage the left arm to open the microwave with glass top.",
+    "Get the dark gray kitchen microwave open.",
+    "Pull the handle of the rectangular gray microwave to open it.",
+    "Activate the door to open the rectangular gray microwave.",
+    "Pull the rectangular gray microwave's handle to open it."
+  ],
+  "unseen": [
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the dark gray microwave using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Move the left arm and open the dark gray microwave.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull and open the microwave with textured top panel.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull to open the rectangular microwave.",
+    "Engage the microwave with knobs using the left arm to open.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Open the medium microwave using the left arm.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Utilize the left arm to pull the microwave with patterned top and knobs open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Open the microwave by pulling its handle.",
+    "Grab the handle and open the microwave.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Pull the medium microwave's handle to open it.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Get the rectangular microwave open.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull to open the yellow-sided microwave.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Engage the left arm to open the medium microwave.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Pull the handle to open the microwave with knobs.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Get the gray microwave with two control knobs open.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Pull and open the medium microwave.",
+    "Pull the door to open the gray microwave.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Engage the left arm to open the microwave with textured top panel.",
+    "Open the microwave with knobs using the left arm.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Open the medium microwave by pulling its handle.",
+    "Grab the handle and open the gray microwave with two control knobs."
+  ],
+  "unseen": [
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Get the medium microwave open.",
+    "Grab the handle and open the microwave with patterned top and knobs with the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Activate the door to open the rectangular microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the handle to open the microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to grab and open the microwave with textured top panel.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Pull the handle of the gray microwave to open it.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Get the yellow-sided microwave open.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Open the medium microwave by pulling on its handle.",
+    "Activate the door to open the countertop microwave.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull to open the yellow-sided microwave.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the countertop microwave.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the door to open the gray and yellow microwave with rounded edges.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Open the microwave with patterned top and knobs using the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Engage the medium microwave using the left arm to open.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Open the microwave by pulling with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Get the microwave with textured top panel open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Open the microwave with textured top panel by pulling on its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave with two control knobs.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to pull the medium microwave open.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Open the medium microwave by pulling its handle."
+  ],
+  "unseen": [
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the door to open the medium microwave.",
+    "Pull to open the medium microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Pull the the microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Grab the handle and open the microwave with knobs.",
+    "Activate the door to open the gray microwave.",
+    "Engage the microwave's handle and open it.",
+    "Pull and open the microwave.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grip the medium microwave's handle and pull it open.",
+    "Open the medium microwave by pulling its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Pull the handle to open the countertop microwave.",
+    "Open the microwave by pulling on its handle.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Use the handle to open the medium microwave.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Pull the door to open the microwave with knobs.",
+    "Pull to open the microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Get the microwave open.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Activate the door to open the rectangular microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Open the rectangular microwave using the left arm.",
+    "Open the countertop microwave by pulling its handle.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave with patterned top and knobs by pulling on its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Engage the microwave using the left arm to open.",
+    "Utilize the left arm to pull the microwave open.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to grab and pull the microwave.",
+    "Get the medium microwave open.",
+    "Grab the handle and open the countertop microwave.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Pull and open the microwave with knobs.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm."
+  ],
+  "unseen": [
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull and open the microwave with textured top panel.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Open the countertop microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Pull to open the rectangular microwave.",
+    "Use the left arm to pull the countertop microwave open.",
+    "Get the gray microwave open.",
+    "Access the inside by opening the microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull the door to open the microwave with knobs.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the rectangular microwave.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Engage the microwave using the left arm to open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Pull and open the countertop microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the rectangular microwave using the left arm.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Activate the door to open the gray microwave with two control knobs.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Get the microwave with patterned top and knobs open.",
+    "Access the inside by opening the rectangular microwave.",
+    "Grab the handle and open the gray microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Open the microwave by pulling its handle.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Pull the door of the countertop microwave to open it.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grip the microwave's handle and pull it open.",
+    "Engage the medium microwave's handle and open it.",
+    "Pull and open the rectangular microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the countertop microwave by pulling its handle.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Activate the door to open the medium microwave.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Get the yellow-sided microwave open.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the gray microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the door to open the gray and yellow microwave with rounded edges."
+  ],
+  "unseen": [
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by grasping its handle.",
+    "Use the handle to open the countertop microwave.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull open the door of the microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Pull the door of the countertop microwave to open it.",
+    "Get the microwave with knobs open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Grab the handle and open the microwave.",
+    "Pull the the microwave's handle using the left arm.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Activate the door to open the gray microwave.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Engage the countertop microwave's handle and open it.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Engage the left arm to open the medium microwave.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Use the handle to open the gray microwave.",
+    "Use the left arm to open the medium microwave by pulling.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Get the microwave with patterned top and knobs open.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the microwave with knobs.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Pull the handle of the microwave with patterned top and knobs with the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Pull the door to open the rectangular microwave.",
+    "Open the gray microwave by pulling on its handle.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Grab the handle and open the medium microwave.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Engage the gray microwave using the left arm to open.",
+    "Pull the handle to open the countertop microwave.",
+    "Activate the door to open the medium microwave.",
+    "Open the medium microwave by pulling its handle.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull to open the countertop microwave.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Pull the yellow-sided microwave's handle to open it.",
+    "Use the left arm to pull the medium microwave open.",
+    "Engage the left arm to open the gray microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the countertop microwave by grasping its handle.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the microwave with knobs using the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Get the countertop microwave open.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the handle of the gray microwave with two control knobs with the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Grip the gray microwave with two control knobs's handle and pull it open."
+  ],
+  "unseen": [
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the rectangular microwave.",
+    "Open the medium microwave using the left arm.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Grasp the microwave's handle and pull to open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull and open the microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Pull open the door of the medium microwave using the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the handle of the countertop microwave to open it.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Pull the microwave's handle to open it.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the door to open the microwave with knobs.",
+    "Grab the handle and open the gray microwave.",
+    "Get the microwave open.",
+    "Engage the left arm to open the countertop microwave.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Access the inside by opening the rectangular microwave.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Use the handle to open the microwave.",
+    "Open the medium microwave using the left arm.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Pull and open the microwave with knobs.",
+    "Engage the microwave's handle and open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the door of the microwave to open it.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Open the gray microwave with two control knobs by pulling with the left arm.",
+    "Activate the door to open the rectangular microwave.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Get the gray microwave with two control knobs open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Open the countertop microwave by grasping its handle.",
+    "Use the left arm to engage the gray microwave with two control knobs's opening mechanism.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Access the inside by opening the medium microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the microwave with textured top panel.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the the microwave's handle using the left arm.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Utilize the left arm to pull the microwave open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Activate the door to open the microwave with knobs.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the left arm to open the countertop microwave.",
+    "Handle the yellow-panel microwave with smooth sides and open it with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Get the yellow-sided microwave open.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Access the inside by opening the medium microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Pull the handle to open the countertop microwave.",
+    "Engage the microwave with patterned top and knobs using the left arm to open.",
+    "Pull the medium microwave's handle to open it.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Pull to open the yellow-sided microwave.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Utilize the left arm to pull the gray microwave with two control knobs open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Grab the handle and open the gray microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door of the gray microwave to open it.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the countertop microwave by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Get the microwave with textured top panel open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the handle to open the medium microwave.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull open the door of the microwave using the left arm.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Pull to open the gray microwave.",
+    "Open the gray microwave by pulling with the left arm.",
+    "Use the left arm to grab and pull the countertop microwave.",
+    "Use the left arm to open the microwave with patterned top and knobs by pulling.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Open the medium microwave by pulling its handle.",
+    "Use the left arm to grab and open the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Activate the door to open the gray microwave.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull the handle of the microwave to open it.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to pull the rectangular microwave open.",
+    "Open the medium microwave by grasping its handle.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull and open the gray and yellow microwave with rounded edges.",
+    "Get the microwave open."
+  ],
+  "unseen": [
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the door to open the gray microwave.",
+    "Grab and pull the gray and yellow microwave with rounded edges using the left arm.",
+    "Open the microwave by grasping its handle.",
+    "Engage the microwave with textured top panel using the left arm to open.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Pull the microwave with knobs's handle to open it.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grasp the medium microwave's handle and pull to open.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Open the medium microwave using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the microwave with the left arm.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling its handle.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Activate the door to open the medium microwave.",
+    "Pull to open the rectangular microwave.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Engage the left arm to open the gray microwave.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to grab and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to grab and pull the yellow-panel microwave with smooth sides.",
+    "Open the microwave with knobs by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Pull the the gray microwave with two control knobs's handle using the left arm.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Open the medium microwave using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Pull and open the gray microwave with two control knobs.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the rectangular microwave by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Open the microwave with knobs by grasping its handle.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grip the microwave with textured top panel's handle and pull it open.",
+    "Pull the microwave's handle to open it.",
+    "Utilize the left arm to pull the microwave open.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Open the countertop microwave by pulling its handle.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull the the gray and yellow microwave with rounded edges's handle using the left arm.",
+    "Access the inside by opening the medium microwave.",
+    "Engage the gray microwave's handle and open it.",
+    "Open the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull the handle to open the rectangular microwave."
+  ],
+  "unseen": [
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Handle the gray microwave and open it with the left arm.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Get the microwave with knobs open.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull to open the yellow-sided microwave.",
+    "Engage the medium microwave using the left arm to open.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Use the handle to open the microwave with knobs.",
+    "Pull the door to open the microwave with knobs.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Open the medium microwave using the left arm.",
+    "Utilize the left arm to pull the rectangular microwave open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Activate the door to open the rectangular microwave.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Grab the handle and open the gray microwave.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Open the yellow-sided microwave by pulling with the left arm.",
+    "Pull and open the microwave.",
+    "Pull the handle of the microwave with knobs with the left arm.",
+    "Pull the the yellow-sided microwave's handle using the left arm.",
+    "Use the left arm to grab and open the medium microwave.",
+    "Open the gray microwave with two control knobs by pulling on its handle.",
+    "Pull the handle to open the gray microwave.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Handle the microwave and open it with the left arm.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Get the microwave with textured top panel open.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the door of the medium microwave to open it.",
+    "Pull the microwave with patterned top and knobs's handle to open it.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to open the gray microwave with two control knobs by pulling.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the door to open the yellow-sided microwave.",
+    "Access the inside by opening the microwave with knobs.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Grab the handle and open the microwave with knobs.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the handle of the gray microwave with two control knobs to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle to open the countertop microwave.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Pull the handle of the microwave with the left arm.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Grab and pull the countertop microwave using the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Get the gray microwave with two control knobs open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the door of the microwave with knobs to open it.",
+    "Pull the yellow-panel microwave with smooth sides's handle to open it.",
+    "Pull to open the gray microwave.",
+    "Engage the gray microwave using the left arm to open.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to open the rectangular microwave by pulling.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the handle to open the microwave.",
+    "Pull the door to open the microwave with textured top panel.",
+    "Access the inside by opening the gray and yellow microwave with rounded edges.",
+    "Open the microwave with textured top panel by grasping its handle.",
+    "Open the microwave using the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to engage the yellow-panel microwave with smooth sides's opening mechanism.",
+    "Activate the door to open the gray and yellow microwave with rounded edges.",
+    "Open the microwave with knobs by pulling its door with the left arm.",
+    "Grab the handle and open the yellow-panel microwave with smooth sides with the left arm."
+  ],
+  "unseen": [
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the gray microwave.",
+    "Pull the door to open the microwave.",
+    "Get the countertop microwave open.",
+    "Pull and open the yellow-sided microwave.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Pull the handle to open the rectangular microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Activate the door to open the medium microwave.",
+    "Open the gray microwave by grasping its handle.",
+    "Open the gray microwave by pulling its handle.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Use the handle to open the countertop microwave.",
+    "Pull open the door of the microwave with knobs using the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Engage the left arm to open the microwave with patterned top and knobs.",
+    "Open the microwave using the left arm.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Grip the yellow-sided microwave's handle and pull it open.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Grab the handle and open the yellow-sided microwave.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Pull the handle of the microwave with the left arm.",
+    "Use the left arm to engage the countertop microwave's opening mechanism.",
+    "Pull to open the microwave with textured top panel.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Engage the microwave's handle and open it.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the door to open the microwave.",
+    "Get the yellow-sided microwave open.",
+    "Pull and open the gray microwave.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the handle to open the rectangular microwave.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Activate the door to open the microwave with knobs.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Handle the rectangular microwave and open it with the left arm.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Use the handle to open the microwave.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Open the rectangular microwave using the left arm.",
+    "Utilize the left arm to pull the microwave open.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the handle of the microwave with patterned top and knobs to open it.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the handle to open the microwave.",
+    "Open the gray microwave by pulling on its handle.",
+    "Pull the handle of the rectangular microwave with the left arm.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Pull to open the medium microwave.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Use the left arm to pull open the door of the gray microwave.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull the door to open the countertop microwave.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Pull and open the microwave with textured top panel.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the handle to open the gray microwave.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the medium microwave by pulling with the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Activate the door to open the medium microwave.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Grab the handle and open the rectangular microwave with the left arm.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Open the microwave by pulling its handle.",
+    "Pull the countertop microwave's handle to open it.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Engage the left arm to open the medium microwave."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and pull the medium microwave.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Activate the door to open the countertop microwave.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the countertop microwave using the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Grab and pull the microwave using the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Grasp the yellow-panel microwave with smooth sides's handle and pull to open.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling on its handle.",
+    "Engage the countertop microwave's handle and open it.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Grab the handle and open the microwave with knobs with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Open the yellow-sided microwave by grasping its handle.",
+    "Pull the door to open the countertop microwave.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Grip the rectangular microwave's handle and pull it open.",
+    "Use the handle to open the microwave.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Get the medium microwave open.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Engage the left arm to open the microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Handle the microwave and open it with the left arm.",
+    "Use the left arm to pull the microwave with knobs open.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull open the door of the microwave with textured top panel using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the gray microwave.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull and open the microwave with textured top panel.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Grab the handle and open the microwave with knobs.",
+    "Activate the door to open the medium microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Open the yellow-sided microwave using the left arm.",
+    "Access the inside by opening the microwave with knobs.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the the gray microwave's handle using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Engage the medium microwave's handle and open it.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Pull the door to open the gray microwave.",
+    "Pull the handle of the yellow-sided microwave with the left arm.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Use the handle to open the rectangular microwave.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Pull the handle to open the countertop microwave.",
+    "Engage the left arm to open the microwave with knobs.",
+    "Use the left arm to engage the microwave with patterned top and knobs's opening mechanism.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull open the door of the gray microwave with two control knobs using the left arm.",
+    "Pull the handle to open the microwave.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull and open the medium microwave.",
+    "Use the left arm to pull open the door of the countertop microwave.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Activate the door to open the medium microwave.",
+    "Utilize the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Use the left arm to open the yellow-sided microwave by pulling.",
+    "Use the left arm to grab and open the countertop microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Access the inside by opening the gray microwave.",
+    "Grab and pull the microwave with patterned top and knobs using the left arm.",
+    "Pull the handle of the microwave to open it.",
+    "Grasp the gray microwave with two control knobs's handle and pull to open.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Open the countertop microwave by pulling on its handle.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Grab the handle and open the gray microwave with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Get the countertop microwave open.",
+    "Grab and pull the medium microwave using the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Pull the handle to open the microwave.",
+    "Pull and open the microwave.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull the gray microwave open.",
+    "Open the microwave with textured top panel using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Access the inside by opening the gray microwave.",
+    "Use the left arm to grab and open the yellow-sided microwave.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to engage the rectangular microwave's opening mechanism.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Engage the yellow-panel microwave with smooth sides using the left arm to open.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Grab the handle and open the rectangular microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Open the microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the gray microwave with two control knobs.",
+    "Activate the door to open the countertop microwave.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Open the microwave by pulling its handle.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull the the countertop microwave's handle using the left arm.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Get the gray and yellow microwave with rounded edges open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the microwave.",
+    "Pull and open the countertop microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Open the countertop microwave by pulling its door with the left arm.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the handle to open the gray microwave with two control knobs.",
+    "Pull the microwave's handle to open it.",
+    "Pull the door of the gray microwave with two control knobs to open it.",
+    "Grasp the microwave with knobs's handle and pull to open.",
+    "Use the left arm to pull the gray microwave open.",
+    "Open the gray microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the gray microwave by grasping its handle.",
+    "Access the inside by opening the rectangular microwave.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Pull to open the microwave with patterned top and knobs.",
+    "Use the left arm to engage the microwave's opening mechanism.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Engage the rectangular microwave's handle and open it.",
+    "Engage the gray microwave using the left arm to open.",
+    "Grip the yellow-panel microwave with smooth sides's handle and pull it open.",
+    "Grab the handle and open the gray microwave.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Open the gray microwave by pulling on its handle.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Activate the door to open the microwave with textured top panel.",
+    "Use the left arm to open the microwave by pulling.",
+    "Open the countertop microwave by pulling its handle.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Pull the door to open the microwave with knobs.",
+    "Get the microwave with patterned top and knobs open.",
+    "Grab and pull the gray microwave with two control knobs using the left arm.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull and open the gray microwave.",
+    "Pull open the door of the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the handle of the yellow-panel microwave with smooth sides to open it.",
+    "Use the handle to open the microwave.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it.",
+    "Grasp the gray and yellow microwave with rounded edges's handle and pull to open.",
+    "Use the left arm to pull the microwave with textured top panel open.",
+    "Open the gray microwave using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Open the microwave by grasping its handle.",
+    "Access the inside by opening the microwave with knobs.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Pull to open the gray microwave.",
+    "Use the left arm to engage the microwave's opening mechanism."
+  ],
+  "unseen": [
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the gray appliance with transparent glass top by pulling.",
+    "Utilize the left arm to pull the microwave with glass top open.",
+    "Grab and pull the gray appliance with transparent glass top using the left arm.",
+    "Use the handle to open the rectangular microwave with clear glass panel.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull and open the microwave for heating food.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle to open the microwave for heating food.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Grasp the microwave with glossy dark gray finish's handle and pull to open.",
+    "Use the left arm to pull the microwave open.",
+    "Open the microwave for heating food by grasping its handle.",
+    "Pull to open the gray appliance with transparent glass top.",
+    "Use the left arm to grab and pull the medium microwave with slanted sides.",
+    "Open the rectangular microwave with clear glass panel by pulling its handle.",
+    "Pull open the door of the medium microwave with slanted sides using the left arm.",
+    "Engage the left arm to open the rectangular gray microwave.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the handle of the rectangular microwave with clear glass panel to open it.",
+    "Grab the handle and open the dark gray slanted microwave box.",
+    "Grip the microwave's handle and pull it open.",
+    "Handle the microwave with glossy dark gray finish and open it with the left arm.",
+    "Pull the door of the gray and glass microwave for cooking to open it.",
+    "Grab the handle and open the medium microwave with slanted sides with the left arm.",
+    "Pull the handle to open the gray appliance with transparent glass top.",
+    "Use the left arm to engage the medium microwave with slanted sides's opening mechanism.",
+    "Activate the door to open the microwave.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to grab and open the rectangular gray microwave.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Get the gray appliance with transparent glass top open.",
+    "Open the dark gray kitchen microwave by pulling with the left arm.",
+    "Pull the handle to open the gray and glass microwave for cooking.",
+    "Engage the microwave with glass top's handle and open it.",
+    "Open the microwave by pulling on its handle.",
+    "Open the dark gray kitchen microwave by pulling its door with the left arm.",
+    "Engage the microwave with glossy dark gray finish using the left arm to open.",
+    "Open the microwave with glass top by pulling its handle.",
+    "Use the left arm to open the gray and glass microwave for cooking by pulling.",
+    "Utilize the left arm to pull the microwave for heating food open.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the the dark gray slanted microwave box's handle using the left arm.",
+    "Pull and open the dark gray kitchen microwave.",
+    "Use the left arm to pull open the door of the microwave.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Pull the door to open the microwave with smooth surface.",
+    "Grasp the gray appliance with transparent glass top's handle and pull to open.",
+    "Use the left arm to pull the microwave with glass top open.",
+    "Open the microwave with glossy dark gray finish by grasping its handle.",
+    "Pull to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Open the gray appliance with transparent glass top by pulling its handle.",
+    "Pull open the door of the gray appliance with transparent glass top using the left arm.",
+    "Engage the left arm to open the gray and glass microwave for cooking.",
+    "Pull the rectangular gray microwave's handle to open it.",
+    "Access the inside by opening the microwave for heating food.",
+    "Pull the handle of the dark gray slanted microwave box to open it.",
+    "Grab the handle and open the microwave with glass top.",
+    "Grip the microwave for heating food's handle and pull it open.",
+    "Handle the microwave with glass top and open it with the left arm.",
+    "Pull the door of the rectangular gray microwave to open it.",
+    "Grab the handle and open the gray and glass microwave for cooking with the left arm.",
+    "Pull the handle to open the rectangular microwave with clear glass panel.",
+    "Use the left arm to engage the dark gray slanted microwave box's opening mechanism.",
+    "Activate the door to open the rectangular microwave with clear glass panel.",
+    "Pull the handle of the rectangular microwave with clear glass panel with the left arm.",
+    "Use the left arm to grab and open the dark gray kitchen microwave.",
+    "Open the medium microwave with slanted sides using the left arm.",
+    "Get the microwave with glossy dark gray finish open.",
+    "Open the medium microwave with slanted sides by pulling with the left arm.",
+    "Pull the handle to open the dark gray slanted microwave box.",
+    "Engage the microwave with smooth surface's handle and open it.",
+    "Open the rectangular microwave with clear glass panel by pulling on its handle.",
+    "Open the rectangular microwave with clear glass panel by pulling its door with the left arm.",
+    "Engage the gray and glass microwave for cooking using the left arm to open.",
+    "Open the gray and glass microwave for cooking by pulling its handle.",
+    "Use the left arm to open the medium microwave with slanted sides by pulling.",
+    "Utilize the left arm to pull the medium microwave with slanted sides open.",
+    "Grab and pull the microwave using the left arm.",
+    "Use the handle to open the microwave with glass top.",
+    "Pull the the microwave for heating food's handle using the left arm.",
+    "Pull and open the medium microwave with slanted sides.",
+    "Use the left arm to pull open the door of the microwave with glossy dark gray finish.",
+    "Pull the handle to open the rectangular gray microwave.",
+    "Pull the door to open the dark gray kitchen microwave.",
+    "Grasp the rectangular microwave with clear glass panel's handle and pull to open.",
+    "Use the left arm to pull the rectangular microwave with clear glass panel open.",
+    "Open the microwave with glass top by grasping its handle.",
+    "Pull to open the dark gray slanted microwave box.",
+    "Use the left arm to grab and pull the rectangular gray microwave.",
+    "Open the microwave by pulling its handle.",
+    "Pull open the door of the microwave with smooth surface using the left arm.",
+    "Engage the left arm to open the microwave with glossy dark gray finish.",
+    "Pull the microwave with glass top's handle to open it.",
+    "Access the inside by opening the dark gray kitchen microwave.",
+    "Pull the handle of the medium microwave with slanted sides to open it.",
+    "Grab the handle and open the microwave.",
+    "Grip the microwave with smooth surface's handle and pull it open."
+  ],
+  "unseen": [
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the medium-sized microwave with angled walls using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the medium-sized microwave with angled walls by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the dark gray microwave's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the medium-sized microwave with angled walls.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the kitchen microwave with slanted shape.",
+    "Grab the kitchen microwave with slanted shape's handle and pull to open it.",
+    "Locate the kitchen microwave with slanted shape and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the medium-sized microwave with angled walls.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the dark gray microwave open with the left arm.",
+    "Use the left arm to open the kitchen microwave with slanted shape.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the dark gray microwave.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the medium-sized microwave with angled walls.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the dark gray microwave and open it using the left arm.",
+    "Pull the medium-sized microwave with angled walls open with the left arm.",
+    "Use the left arm to open the dark gray microwave.",
+    "Open the dark gray microwave using the left arm.",
+    "Use the left arm to pull the handle of the kitchen microwave with slanted shape.",
+    "Open the kitchen microwave with slanted shape by pulling its door handle.",
+    "Move the left arm and open the dark gray microwave.",
+    "Grab the medium-sized microwave with angled walls's handle and pull to open it.",
+    "Locate the medium-sized microwave with angled walls and open it using the left arm.",
+    "Pull the kitchen microwave with slanted shape open with the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Open the microwave with textured top panel by pulling with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Grab the handle and open the countertop microwave with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Engage the yellow-panel microwave with smooth sides's handle and open it.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the the microwave with patterned top and knobs's handle using the left arm.",
+    "Open the microwave by pulling its door with the left arm.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Pull to open the gray microwave.",
+    "Get the rectangular microwave open.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Use the left arm to pull open the door of the microwave with knobs.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the door to open the gray microwave.",
+    "Pull the door of the gray and yellow microwave with rounded edges to open it.",
+    "Open the rectangular microwave using the left arm.",
+    "Engage the microwave using the left arm to open.",
+    "Pull the microwave with textured top panel's handle to open it.",
+    "Pull the handle to open the gray microwave.",
+    "Access the inside by opening the countertop microwave.",
+    "Pull and open the yellow-sided microwave.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grab the handle and open the countertop microwave.",
+    "Activate the door to open the gray microwave.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Engage the left arm to open the yellow-sided microwave.",
+    "Grab and pull the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the rectangular microwave.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Open the gray microwave by grasping its handle.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Grab the handle and open the medium microwave with the left arm.",
+    "Handle the countertop microwave and open it with the left arm.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Engage the microwave's handle and open it.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Open the gray microwave by pulling its handle.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Open the microwave with patterned top and knobs by pulling its handle.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Pull to open the gray microwave.",
+    "Get the microwave with knobs open.",
+    "Use the left arm to engage the gray microwave's opening mechanism.",
+    "Use the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull the microwave open.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull open the door of the rectangular microwave using the left arm.",
+    "Pull the door to open the medium microwave.",
+    "Pull the door of the rectangular microwave to open it.",
+    "Open the gray microwave with two control knobs using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Pull the rectangular microwave's handle to open it.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Access the inside by opening the microwave with patterned top and knobs.",
+    "Pull and open the gray microwave.",
+    "Grasp the yellow-sided microwave's handle and pull to open.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the microwave with textured top panel by pulling.",
+    "Utilize the left arm to pull the microwave with textured top panel open.",
+    "Grab the handle and open the microwave with textured top panel.",
+    "Activate the door to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Engage the left arm to open the gray microwave.",
+    "Grab and pull the gray microwave using the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Open the countertop microwave by grasping its handle.",
+    "Pull the handle of the medium microwave with the left arm.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Engage the microwave with patterned top and knobs's handle and open it.",
+    "Grip the gray microwave with two control knobs's handle and pull it open.",
+    "Open the yellow-sided microwave by pulling its handle.",
+    "Pull the the microwave's handle using the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling its door with the left arm.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Get the microwave open.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull open the door of the countertop microwave using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the door to open the rectangular microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Engage the left arm to open the gray and yellow microwave with rounded edges.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Use the left arm to grab and open the rectangular microwave.",
+    "Use the handle to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to open the yellow-panel microwave with smooth sides by pulling.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Open the yellow-sided microwave by pulling its door with the left arm.",
+    "Pull the handle to open the gray and yellow microwave with rounded edges.",
+    "Pull the gray microwave's handle to open it.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull and open the gray microwave.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Grab and pull the microwave using the left arm.",
+    "Open the rectangular microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull to open the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by pulling its handle.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Handle the gray and yellow microwave with rounded edges and open it with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Activate the door to open the gray microwave.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to pull the gray and yellow microwave with rounded edges open.",
+    "Engage the gray and yellow microwave with rounded edges using the left arm to open.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Grab the handle and open the countertop microwave.",
+    "Pull the the medium microwave's handle using the left arm.",
+    "Utilize the left arm to pull the countertop microwave open.",
+    "Open the microwave by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to engage the medium microwave's opening mechanism.",
+    "Open the microwave using the left arm.",
+    "Engage the left arm to open the medium microwave.",
+    "Get the gray microwave open.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Use the handle to open the rectangular microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Pull the handle of the yellow-panel microwave with smooth sides with the left arm.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle of the medium microwave to open it.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Grab and pull the microwave with knobs using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Grab the handle and open the yellow-sided microwave with the left arm.",
+    "Pull to open the microwave with textured top panel.",
+    "Open the yellow-panel microwave with smooth sides by pulling its handle.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Handle the medium microwave and open it with the left arm.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Use the left arm to pull open the door of the microwave with patterned top and knobs.",
+    "Grip the microwave with knobs's handle and pull it open.",
+    "Activate the door to open the microwave with knobs.",
+    "Pull open the door of the countertop microwave using the left arm.",
+    "Grasp the countertop microwave's handle and pull to open.",
+    "Use the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Engage the gray microwave with two control knobs using the left arm to open.",
+    "Engage the microwave's handle and open it.",
+    "Grab the handle and open the microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Pull the door to open the microwave.",
+    "Use the left arm to engage the gray and yellow microwave with rounded edges's opening mechanism.",
+    "Open the microwave with knobs using the left arm.",
+    "Engage the left arm to open the microwave.",
+    "Get the medium microwave open.",
+    "Use the left arm to grab and open the microwave with knobs.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to open the countertop microwave by pulling.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Open the gray microwave by pulling its door with the left arm.",
+    "Pull the handle to open the countertop microwave.",
+    "Pull the microwave's handle to open it.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Pull the handle to open the medium microwave.",
+    "Pull the handle of the rectangular microwave to open it.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Open the gray microwave by grasping its handle.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Open the microwave by pulling on its handle.",
+    "Grab the handle and open the microwave with knobs with the left arm."
+  ],
+  "unseen": [
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Engage the medium microwave's handle and open it.",
+    "Get the microwave with knobs open.",
+    "Open the yellow-sided microwave by pulling on its handle.",
+    "Open the countertop microwave using the left arm.",
+    "Access the inside by opening the gray microwave.",
+    "Pull the door to open the gray microwave with two control knobs.",
+    "Grip the gray microwave's handle and pull it open.",
+    "Open the microwave with textured top panel by pulling its door with the left arm.",
+    "Pull the door of the microwave to open it.",
+    "Use the left arm to pull open the door of the yellow-panel microwave with smooth sides.",
+    "Pull the the microwave's handle using the left arm.",
+    "Use the handle to open the microwave with patterned top and knobs.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Open the gray and yellow microwave with rounded edges by grasping its handle.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle of the microwave to open it.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Engage the left arm to open the gray microwave.",
+    "Open the microwave with knobs by pulling its handle.",
+    "Utilize the left arm to pull the yellow-panel microwave with smooth sides open.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Grab the handle and open the microwave with the left arm.",
+    "Pull the handle to open the gray microwave with two control knobs.",
+    "Use the left arm to pull the medium microwave open.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the handle to open the gray microwave.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Pull and open the microwave with textured top panel.",
+    "Grab the handle and open the microwave with patterned top and knobs.",
+    "Open the gray microwave by pulling its handle.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with knobs.",
+    "Pull to open the yellow-panel microwave with smooth sides.",
+    "Use the left arm to engage the yellow-sided microwave's opening mechanism.",
+    "Engage the microwave with textured top panel's handle and open it.",
+    "Get the gray microwave with two control knobs open.",
+    "Open the microwave by pulling on its handle.",
+    "Open the microwave with knobs using the left arm.",
+    "Access the inside by opening the gray microwave with two control knobs.",
+    "Pull the door to open the microwave with knobs.",
+    "Grip the microwave's handle and pull it open.",
+    "Open the medium microwave by pulling its door with the left arm.",
+    "Pull the door of the yellow-sided microwave to open it.",
+    "Use the left arm to pull open the door of the microwave with textured top panel.",
+    "Pull the the microwave with knobs's handle using the left arm.",
+    "Use the handle to open the microwave.",
+    "Use the left arm to grab and open the gray and yellow microwave with rounded edges.",
+    "Pull the handle of the countertop microwave with the left arm.",
+    "Handle the microwave with knobs and open it with the left arm.",
+    "Open the gray microwave with two control knobs by grasping its handle.",
+    "Engage the medium microwave using the left arm to open.",
+    "Use the left arm to open the microwave by pulling.",
+    "Pull the handle of the yellow-sided microwave to open it.",
+    "Open the yellow-panel microwave with smooth sides by pulling with the left arm.",
+    "Engage the left arm to open the countertop microwave.",
+    "Open the countertop microwave by pulling its handle.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Grab and pull the yellow-panel microwave with smooth sides using the left arm.",
+    "Activate the door to open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the gray microwave with two control knobs with the left arm.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to pull the yellow-sided microwave open.",
+    "Pull open the door of the gray microwave using the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the handle to open the yellow-panel microwave with smooth sides.",
+    "Pull the countertop microwave's handle to open it.",
+    "Pull and open the yellow-panel microwave with smooth sides.",
+    "Grab the handle and open the medium microwave.",
+    "Open the microwave by pulling its handle.",
+    "Grasp the microwave with patterned top and knobs's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with patterned top and knobs.",
+    "Pull to open the rectangular microwave.",
+    "Use the left arm to engage the microwave with textured top panel's opening mechanism.",
+    "Engage the gray microwave with two control knobs's handle and open it.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Open the yellow-panel microwave with smooth sides by pulling on its handle.",
+    "Open the gray microwave using the left arm.",
+    "Access the inside by opening the yellow-panel microwave with smooth sides.",
+    "Pull the door to open the microwave.",
+    "Grip the gray and yellow microwave with rounded edges's handle and pull it open.",
+    "Open the gray microwave with two control knobs by pulling its door with the left arm.",
+    "Pull the door of the microwave with textured top panel to open it.",
+    "Use the left arm to pull open the door of the rectangular microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Use the handle to open the microwave with knobs.",
+    "Use the left arm to grab and open the microwave.",
+    "Pull the handle of the gray and yellow microwave with rounded edges with the left arm.",
+    "Handle the gray microwave with two control knobs and open it with the left arm.",
+    "Open the microwave with patterned top and knobs by grasping its handle.",
+    "Engage the rectangular microwave using the left arm to open.",
+    "Use the left arm to open the gray and yellow microwave with rounded edges by pulling.",
+    "Pull the handle of the microwave with textured top panel to open it.",
+    "Open the microwave with patterned top and knobs by pulling with the left arm.",
+    "Engage the left arm to open the microwave with patterned top and knobs."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Use the left arm to open the gray and yellow rectangular microwave."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handle and open the countertop microwave.",
+    "Open the rectangular microwave by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with knobs.",
+    "Pull the gray microwave with two control knobs's handle to open it.",
+    "Use the left arm to pull the microwave with patterned top and knobs open.",
+    "Utilize the left arm to pull the gray microwave open.",
+    "Use the left arm to pull open the door of the gray and yellow microwave with rounded edges.",
+    "Open the rectangular microwave by grasping its handle.",
+    "Grasp the gray microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the microwave with textured top panel.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Activate the door to open the countertop microwave.",
+    "Pull the door to open the yellow-panel microwave with smooth sides.",
+    "Pull the the rectangular microwave's handle using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Access the inside by opening the microwave with textured top panel.",
+    "Use the left arm to open the microwave by pulling.",
+    "Grab the handle and open the microwave with textured top panel with the left arm.",
+    "Pull to open the rectangular microwave.",
+    "Pull open the door of the microwave with patterned top and knobs using the left arm.",
+    "Pull the door of the microwave with patterned top and knobs to open it.",
+    "Grab and pull the microwave with textured top panel using the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Engage the left arm to open the rectangular microwave.",
+    "Pull the handle to open the yellow-sided microwave.",
+    "Use the left arm to grab and open the microwave with patterned top and knobs.",
+    "Open the microwave with textured top panel by pulling its handle.",
+    "Use the handle to open the countertop microwave.",
+    "Grip the countertop microwave's handle and pull it open.",
+    "Open the medium microwave by pulling on its handle.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the handle of the microwave with knobs to open it.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Pull the handle of the microwave with textured top panel with the left arm.",
+    "Pull and open the microwave with knobs.",
+    "Open the countertop microwave by pulling with the left arm.",
+    "Handle the yellow-sided microwave and open it with the left arm.",
+    "Grab the handle and open the countertop microwave.",
+    "Open the microwave with patterned top and knobs by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with textured top panel.",
+    "Pull the gray and yellow microwave with rounded edges's handle to open it.",
+    "Use the left arm to pull the microwave open.",
+    "Utilize the left arm to pull the yellow-sided microwave open.",
+    "Use the left arm to pull open the door of the yellow-sided microwave.",
+    "Open the yellow-panel microwave with smooth sides by grasping its handle.",
+    "Grasp the rectangular microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the gray and yellow microwave with rounded edges.",
+    "Pull the handle to open the medium microwave.",
+    "Activate the door to open the microwave.",
+    "Pull the door to open the microwave with patterned top and knobs.",
+    "Pull the the yellow-panel microwave with smooth sides's handle using the left arm.",
+    "Engage the countertop microwave's handle and open it.",
+    "Engage the yellow-sided microwave using the left arm to open.",
+    "Access the inside by opening the countertop microwave.",
+    "Use the left arm to open the gray microwave by pulling.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges with the left arm.",
+    "Pull to open the microwave with knobs.",
+    "Pull open the door of the yellow-sided microwave using the left arm.",
+    "Pull the door of the gray microwave to open it.",
+    "Grab and pull the rectangular microwave using the left arm.",
+    "Get the yellow-panel microwave with smooth sides open.",
+    "Engage the left arm to open the yellow-panel microwave with smooth sides.",
+    "Pull the handle to open the medium microwave.",
+    "Use the left arm to grab and open the gray microwave.",
+    "Open the gray microwave with two control knobs by pulling its handle.",
+    "Use the handle to open the rectangular microwave.",
+    "Grip the microwave with patterned top and knobs's handle and pull it open.",
+    "Open the microwave with knobs by pulling on its handle.",
+    "Use the left arm to engage the microwave with knobs's opening mechanism.",
+    "Open the medium microwave using the left arm.",
+    "Pull the handle of the gray and yellow microwave with rounded edges to open it.",
+    "Open the medium microwave by pulling its handle.",
+    "Pull the handle of the gray microwave with the left arm.",
+    "Pull and open the microwave with patterned top and knobs.",
+    "Open the gray and yellow microwave with rounded edges by pulling with the left arm.",
+    "Handle the microwave with textured top panel and open it with the left arm.",
+    "Grab the handle and open the gray and yellow microwave with rounded edges.",
+    "Open the gray and yellow microwave with rounded edges by pulling its door with the left arm.",
+    "Pull the handle to open the microwave with patterned top and knobs.",
+    "Pull the gray microwave's handle to open it.",
+    "Use the left arm to pull the gray microwave with two control knobs open.",
+    "Utilize the left arm to pull the microwave with knobs open.",
+    "Use the left arm to pull open the door of the medium microwave.",
+    "Open the microwave by grasping its handle.",
+    "Grasp the microwave's handle and pull to open.",
+    "Use the left arm to grab and pull the gray microwave with two control knobs.",
+    "Pull the handle to open the microwave with knobs.",
+    "Activate the door to open the yellow-sided microwave.",
+    "Pull the door to open the microwave.",
+    "Pull the the microwave with textured top panel's handle using the left arm.",
+    "Engage the gray and yellow microwave with rounded edges's handle and open it.",
+    "Engage the countertop microwave using the left arm to open.",
+    "Access the inside by opening the yellow-sided microwave.",
+    "Use the left arm to open the microwave with knobs by pulling.",
+    "Grab the handle and open the gray microwave with the left arm.",
+    "Pull to open the gray microwave with two control knobs.",
+    "Pull open the door of the gray and yellow microwave with rounded edges using the left arm.",
+    "Pull the door of the yellow-panel microwave with smooth sides to open it."
+  ],
+  "unseen": [
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium gray microwave with top vents using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm.",
+    "Open the gray and yellow rectangular microwave using the left arm.",
+    "Grab the medium gray microwave with top vents's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to open the gray and yellow rectangular microwave.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the medium gray microwave with top vents by pulling its door handle.",
+    "Locate the medium gray microwave with top vents and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the gray and yellow rectangular microwave.",
+    "Pull the gray and yellow rectangular microwave open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the medium-sized rectangular microwave with textured top's handle and pull to open it.",
+    "Move the left arm and open the medium gray microwave with top vents.",
+    "Use the left arm to open the medium-sized rectangular microwave with textured top.",
+    "Use the left arm to pull the handle of the medium gray microwave with top vents.",
+    "Pull the medium-sized rectangular microwave with textured top open with the left arm.",
+    "Open the gray and yellow rectangular microwave by pulling its door handle.",
+    "Locate the medium-sized rectangular microwave with textured top and open it using the left arm.",
+    "Open the medium-sized rectangular microwave with textured top using the left arm.",
+    "Grab the gray and yellow rectangular microwave's handle and pull to open it.",
+    "Move the left arm and open the gray and yellow rectangular microwave.",
+    "Use the left arm to open the medium gray microwave with top vents.",
+    "Use the left arm to pull the handle of the medium-sized rectangular microwave with textured top.",
+    "Pull the medium gray microwave with top vents open with the left arm.",
+    "Open the medium-sized rectangular microwave with textured top by pulling its door handle.",
+    "Locate the gray and yellow rectangular microwave and open it using the left arm."
+  ]
+}

open_microwave/demo_clean_ep20_vidar/scene_info.json

@@ -0,0 +1,222 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "044_microwave/base0",
+            "{a}": "left"
+        }
+    }
+}

open_microwave/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 6 7 9 10 11 13 14 15 16 19 21 22 28 30 32 33 

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode0.json

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

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode1.json

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

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode10.json

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

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode11.json

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

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode12.json

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

pick_dual_bottles/demo_clean_ep20_vidar/instructions/episode13.json

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