diff --git a/.gitattributes b/.gitattributes
index be6d63deffe4576735f03f8a30bd7e5c830b1053..8962858acaabcab196d0693ddc574ed3fc603637 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -137,3 +137,83 @@ place_empty_cup/demo_clean_ep20_vidar/data/episode3.hdf5 filter=lfs diff=lfs mer
 place_empty_cup/demo_clean_ep20_vidar/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
 place_empty_cup/demo_clean_ep20_vidar/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
 place_empty_cup/demo_clean_ep20_vidar/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup/demo_clean_ep20_vidar/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup/demo_clean_ep20_vidar/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+put_bottles_dustbin/demo_clean_ep20_vidar/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+put_bottles_dustbin/demo_clean_ep20_vidar/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode18.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode17.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+stack_blocks_two/demo_clean_ep20_vidar/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode17.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode18.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_cans_plasticbox/demo_clean_ep20_vidar/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
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+grab_roller/demo_clean_ep20_vidar/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
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+grab_roller/demo_clean_ep20_vidar/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+grab_roller/demo_clean_ep20_vidar/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode18.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_object_basket/demo_clean_ep20_vidar/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode0.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e8ab728fcbdd43854cebc9e47c97cfab6342915
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size."
+  ],
+  "unseen": [
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode1.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..63750b5f14afc063ee2d849368032ebb1d194738
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode10.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..541e2caf6f9d1d03a66a8b309661de4af9be292d
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode11.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a26fc88592ccf25db1a3f237d6859a6d172489
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode12.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..de547f1b742d79e760dd04811f9d9d88729a2724
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode13.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba0ced8deaa1151a6397ff915a605b9846f0a3a
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode14.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a080a8625b6d221b997405f5940e053da700de8
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size."
+  ],
+  "unseen": [
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode15.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a3ff497d234dd7ee4a0689704c8b0118430f46
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode16.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..b84611007f09f3153e10f251376ebe9003ca8f6f
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode17.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b1b9e90de5cea02511a9527f74c4f7841cb794
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode18.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..572548390c9b9bdb87205824fea0a5f43c9ede1b
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode19.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd59a1a516e90cb7d48e47d8e7b783f0088939dd
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Set large block first, medium block second, and small block third, ordered at the center."
+  ],
+  "unseen": [
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode2.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9250fac1eaa43ec918f48e77d3c5ee99f6348bd
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to sort them.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the right arm following size order.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the right arm and organize them by descending size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Use the right arm, the left arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Use the right arm, the left arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the right arm to arrange them.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the left arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Use the right arm, the left arm, and the right arm to center large block, medium block, and small block in order.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the right arm.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the right arm.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the right arm to the middle.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Take large block, medium block, and small block to the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode3.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11c675b2592b75b443f8996f25d8097cab16ca4
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Take large block with the right arm, medium block with the left arm, and small block with the left arm to the middle.",
+    "Use the right arm, the left arm, and the left arm to center large block, medium block, and small block in order.",
+    "Use the right arm, the left arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the left arm, and the left arm.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the left arm, and the left arm.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the right arm, the left arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Use the right arm, the left arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the right arm, medium block with the left arm, and small block with the left arm to sort them.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Center large block, medium block, small block with the right arm, the left arm, and the left arm following size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block with the right arm, the left arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode4.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b1460794a919b226815b747c70cd5990dcb9b8
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Pick large block, medium block, and small block sequentially and move them to the center."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Take large block, medium block, and small block to the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode5.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..485376fe379d5cd6ed0f2df3c67275cc453050bc
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block in order at the center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode6.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f147f90ab84f905309ee349903758aa8c8ac74c2
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, small block in order here.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to sort them.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the right arm to the middle.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the right arm following size order.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Use the left arm, the right arm, and the right arm to arrange large block, medium block, and small block centrally by size.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Use the left arm, the right arm, and the right arm to center large block, medium block, and small block in order.",
+    "Use the left arm, the right arm, the right arm to place large block, medium block, and small block by size at the center.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the left arm, the right arm, and the right arm to bring large block, medium block, small block to the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the right arm to arrange them.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the right arm.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the right arm.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the right arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Shift large block, medium block, and small block to the table's center and sort by size."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode7.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..111e21345350c496adabb5735b5054ad3f5b8c5e
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size."
+  ],
+  "unseen": [
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Move large block, medium block, and small block to the table center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Place large block, medium block, and small block in order at the table's center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode8.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b0044006a8b00b892c6a3e5c4c0b2ba1eb7e2d
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Use the left arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Grab large block, medium block, small block with the left arm, the right arm, the left arm and organize them by descending size.",
+    "Center large block, medium block, small block with the left arm, the right arm, and the left arm following size order.",
+    "Use the left arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Use the left arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Align large block, medium block, and small block in the center by size, using the left arm, the right arm, and the left arm.",
+    "Take large block with the left arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Use the left arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Move large block with the left arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Bring large block, medium block, and small block to the center using the left arm, the right arm, and the left arm."
+  ],
+  "unseen": [
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the center table.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Place large block, medium block, and small block at the table center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode9.json b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..8101f11158ff5bf0ed7b74cbc38e4cb651f5f895
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size.",
+    "Center large block, medium block, small block with the right arm, the right arm, and the left arm following size order.",
+    "Move large block, medium block, and small block to the table center in size order.",
+    "Position large block, medium block, and small block centrally, ordered from largest to smallest.",
+    "Shift large block, medium block, small block to the center; align by size left to right.",
+    "Use the right arm, the right arm, and the left arm to bring large block, medium block, small block to the center.",
+    "Put large block, medium block, and small block in the center by size.",
+    "Grab large block, place it, then medium block and small block, arranging by size centrally.",
+    "Grab large block, medium block, small block, and arrange them in size order at the center.",
+    "Shift large block, medium block, and small block to the center and align by size.",
+    "Arrange large block, medium block, and small block by size at the center.",
+    "Bring large block, medium block, and small block to the center using the right arm, the right arm, and the left arm.",
+    "Bring large block, medium block, small block to the table's center and position them left to right.",
+    "Position large block, medium block, then small block at the center in size order.",
+    "Move large block, medium block, and small block to the center, arranging them by size.",
+    "Grab large block, medium block, and small block, set them centrally, ordered by size.",
+    "Relocate large block, medium block, and small block to the center and arrange them by size.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to sort them.",
+    "Grab large block, medium block, small block, move them, and arrange by size centrally.",
+    "Arrange large block, medium block, small block in size order, largest on the left.",
+    "Place large block, medium block, small block centrally and arrange largest to smallest.",
+    "Take large block with the right arm, medium block with the right arm, and small block with the left arm to the middle.",
+    "Align large block, medium block, and small block by size from left to right at the center.",
+    "Grab large block, medium block, and small block and align them by size at the center.",
+    "Arrange blocks large block, medium block, and small block in decreasing size order.",
+    "Pick large block first, medium block next, and small block last, and arrange them.",
+    "Using your tools, align large block, medium block, small block by size in the center.",
+    "Shift large block, medium block, and small block to the table's center and sort by size.",
+    "Place large block, medium block, and small block at the center and sort them from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, small block in order here.",
+    "Use the right arm, the right arm, the left arm to place large block, medium block, and small block by size at the center.",
+    "Organize large block, medium block, and small block in the center of the table by size, largest first.",
+    "Pick large block, medium block, and small block sequentially and move them to the center.",
+    "Transfer large block, medium block, small block to the center, aligning from largest to smallest.",
+    "Set large block first, medium block second, and small block third, ordered at the center.",
+    "Use the right arm, the right arm, and the left arm to center large block, medium block, and small block in order.",
+    "Move large block with the right arm, medium block with the right arm, and small block with the left arm to arrange them.",
+    "Bring large block, medium block, and small block to the center, sorting largest to smallest.",
+    "Align large block, medium block, and small block in the center by size, using the right arm, the right arm, and the left arm.",
+    "Grab large block, medium block, small block with the right arm, the right arm, the left arm and organize them by descending size.",
+    "Move large block, medium block, and small block to the center and align.",
+    "Set large block, medium block, and small block in the center area, arranging from largest to smallest.",
+    "Use the right arm, the right arm, and the left arm to arrange large block, medium block, and small block centrally by size."
+  ],
+  "unseen": [
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center.",
+    "Place large block, medium block, and small block at the table center.",
+    "Move large block, medium block, and small block to the center, ordering largest to smallest.",
+    "Take large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block at the table center, largest to smallest.",
+    "Move large block, medium block, and small block to the center table.",
+    "Move large block, medium block, and small block to the center, arrange left to right.",
+    "Arrange large block, medium block, and small block from largest to smallest.",
+    "Place large block, medium block, and small block in order at the center.",
+    "Move large block, medium block, and small block to the table center.",
+    "Place large block, medium block, and small block in order at the table's center."
+  ]
+}
\ No newline at end of file
diff --git a/blocks_ranking_size/demo_clean_ep20_vidar/scene_info.json b/blocks_ranking_size/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebcfc75ef3063fced9184ae93211174d75aed17
--- /dev/null
+++ b/blocks_ranking_size/demo_clean_ep20_vidar/scene_info.json
@@ -0,0 +1,302 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "large block",
+            "{B}": "medium block",
+            "{C}": "small block",
+            "{a}": "right",
+            "{b}": "left",
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+    "Use the right arm to pick the sauce can with brown lid, position it near the metallic pot with matte finish",
+    "Use the right arm to grab the medium sauce can and move it beside the metallic pot with plastic handles",
+    "Place the brown top sauce can beside the silver pot with black grips after picking it up",
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+    "Grab the metal sauce can, shift it, and place it close to the metallic pot with matte finish",
+    "Take the yellow label sauce can with the right arm, place it near the kitchenpot with smooth metallic lid",
+    "Pick up the sauce can for condiments with the right arm and set by the rounded pot with curved handles",
+    "Pick the yellow label sauce can with the right arm and relocate it near the metallic pot with plastic handles",
+    "Lift the yellow label sauce can and set it beside the silver pot with matching lid",
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+    "Take the cylindrical sauce can using the right arm, set it next to the silver kitchenpot",
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+    "Move the yellow label sauce can to the medium silver pot for cooking with the right arm",
+    "Grab the yellow label sauce can, move it, and place by the silver pot with matching lid",
+    "Lift the sauce can for condiments and move it near the silver kitchenpot",
+    "Grab the printed label sauce can and move it close to the rounded pot with curved handles",
+    "Take the brown sauce can with the right arm, bring it, and set next to the medium silver pot for cooking",
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+    "Lift the brown top sauce can, place it by the rounded silver pot with handles",
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+    "Use the right arm to take the sauce can with ingredient information to the cooking pot with snug-fitting lid",
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+    "Move the medium sauce can to be next to the silver kitchenpot",
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+    "Take the brown top sauce can with the right arm, place it near the metallic pot with plastic handles",
+    "Pick up the brown sauce can with the right arm and set by the cooking pot with snug-fitting lid",
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+    "Grab the brown sauce can and move it close to the medium silver pot for cooking",
+    "Take the sauce can for condiments with the right arm, bring it, and set next to the rounded silver pot with handles",
+    "Set the printed label sauce can near the cooking pot with snug-fitting lid after picking it up",
+    "Grab the metal sauce can with the right arm and move it close to the kitchenpot with smooth metallic lid",
+    "Lift the smooth cylindrical sauce can, then place it next to the medium silver pot for cooking",
+    "Grab the metal sauce can, move it to the medium-sized pot with plastic grips's side",
+    "Pick the sauce can for condiments and position it next to the silver pot with black grips",
+    "Lift the yellow and brown sauce can, place it by the silver pot with matching lid",
+    "Pick the brown sauce can up and move it next to the metallic pot with matte finish",
+    "Use the right arm to pick the sauce can with brown lid up and set it beside the silver pot with matching lid",
+    "Use the right arm to move the brown top sauce can beside the silver pot with matching lid",
+    "Pick the sauce can for condiments up with the right arm then place near the silver pot with matching lid",
+    "Lift the metal sauce can and set it next to the silver pot with black grips",
+    "Use the right arm to grab the brown sauce can and move it next to the metallic pot with matte finish",
+    "Set the brown sauce can right next to the metallic pot with matte finish",
+    "Take the sauce can with brown lid to the silver pot with black grips using the right arm",
+    "Use the right arm to take the printed label sauce can to the silver pot with matching lid",
+    "Grab the sauce can with ingredient information with the right arm and position it beside the medium-sized pot with plastic grips",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the metallic pot with plastic handles",
+    "Move the yellow and brown sauce can beside the silver pot with black grips after lifting it",
+    "Lift the brown sauce can using the right arm and drop it beside the cooking pot with snug-fitting lid",
+    "Using the right arm, lift the sauce can for condiments and place it by the metallic pot with matte finish",
+    "Grab the sauce can with ingredient information with the right arm and set it near the silver pot with matching lid",
+    "Lift the metal sauce can and set it next to the silver pot with black grips",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the silver kitchenpot with black grips"
+  ],
+  "unseen": [
+    "Grab the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the metal body sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and place it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the metal body sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the metal body sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium kitchenpot with black handles"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode1.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dba1a6a730e5c021a0c329713cd1c429322638e
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical sauce can and move it near the medium silver pot for cooking",
+    "Use the left arm to lift the smooth sauce can and place it near the silver pot with matching lid",
+    "Use the left arm to lift the metal body sauce can, then move it next to the cooking pot with snug-fitting lid",
+    "Grab the sauce can with printed design, move it to the kitchenpot with smooth metallic lid's side",
+    "Grab the smooth sauce can and move it close to the silver pot with matching lid",
+    "Lift the sauce can with rounded top cap and set it next to the silver kitchenpot",
+    "Lift the smooth sauce can, then place it next to the medium-sized pot with plastic grips",
+    "Set the cylindrical sauce can right next to the silver kitchenpot with black grips",
+    "Grab the sauce can with red lid, move it, and place by the cooking pot with snug-fitting lid",
+    "Take the sauce can with rounded top cap with the left arm, place it near the metallic pot with matte finish",
+    "With the left arm, grab the small metal sauce container and move to the metallic pot with matte finish",
+    "Lift the metal body sauce can and set it next to the silver pot with matching lid",
+    "Lift the compact sauce can with plastic lid using the left arm and drop it beside the rounded silver pot with handles",
+    "Move the red and orange sauce can from its spot to near the metallic pot with plastic handles",
+    "Take the sturdy sauce can with glossy finish to the silver kitchenpot using the left arm",
+    "Place the small metal sauce container next to the cooking pot with snug-fitting lid",
+    "Place the compact sauce can with plastic lid beside the kitchenpot with smooth metallic lid after picking it up",
+    "Use the left arm to move the smooth sauce can beside the silver pot with matching lid",
+    "Move the sauce can with printed design to the silver kitchenpot with black grips with the left arm",
+    "Use the left arm to pick the metal body sauce can up and set it beside the cooking pot with snug-fitting lid",
+    "Use the left arm to take the small cylindrical sauce can to the silver kitchenpot",
+    "Pick the metal body sauce can up and carefully position it beside the metallic pot with matte finish",
+    "Use the left arm to lift the small cylindrical sauce can and place it next to the medium-sized pot with plastic grips",
+    "Pick the red and orange sauce can up and move it next to the medium-sized pot with plastic grips",
+    "Set the metal body sauce can near the kitchenpot with smooth metallic lid after picking it up",
+    "Lift the sauce can with red lid using the left arm and position it by the silver pot with matching lid",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the rounded pot with curved handles",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with smooth metallic lid",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the rounded pot with curved handles",
+    "Use the left arm to grab the small cylindrical sauce can and move it next to the silver kitchenpot",
+    "Grab the sauce can with printed design, shift it, and place it close to the medium silver pot for cooking",
+    "Use the left arm to pick the compact sauce can with plastic lid, position it near the silver pot with black grips",
+    "Grab the sauce can with printed design with the left arm and move it close to the kitchenpot with smooth metallic lid",
+    "Move the red and orange sauce can to be next to the metallic pot with matte finish",
+    "Pick up the red can with orange label and put it beside the silver kitchenpot",
+    "Lift the metal body sauce can and set it beside the rounded silver pot with handles",
+    "Lift the small metal sauce container and place it next to the silver kitchenpot with black grips",
+    "Grab the metal body sauce can with the left arm and set it near the silver kitchenpot with black grips",
+    "Bring the red can with orange label over and set it near the silver kitchenpot with black grips",
+    "Use the left arm to grab the small cylindrical sauce can and transfer it near the silver kitchenpot with black grips",
+    "Pick up the smooth sauce can with the left arm and set by the rounded silver pot with handles",
+    "Pick the red can with orange label with the left arm and relocate it near the metallic pot with plastic handles",
+    "Pick up the small metal sauce container using the left arm, transfer it beside the rounded pot with curved handles",
+    "Move the compact sauce can with plastic lid beside the metallic pot with plastic handles after lifting it",
+    "Lift the metal body sauce can, place it by the silver pot with black grips",
+    "Grab the small cylindrical sauce can with the left arm and position it beside the metallic pot with matte finish",
+    "Use the left arm to grab the sauce can with printed design, move it beside the silver kitchenpot",
+    "Pick the sauce can with printed design and position it next to the medium-sized pot with plastic grips",
+    "Pick the small cylindrical sauce can up with the left arm then place near the silver kitchenpot",
+    "Using the left arm, lift the red and orange sauce can and place it by the silver kitchenpot",
+    "Lift the sturdy sauce can with glossy finish and move it near the metallic pot with matte finish",
+    "Use the left arm to lift the smooth sauce can and place it near the medium-sized pot with plastic grips",
+    "Use the left arm to lift the sauce can with red lid, then move it next to the rounded pot with curved handles",
+    "Grab the sauce can with printed design, move it to the rounded pot with curved handles's side",
+    "Grab the metal body sauce can and move it close to the metallic pot with plastic handles",
+    "Lift the small cylindrical sauce can and set it next to the metallic pot with plastic handles",
+    "Lift the sauce can with red lid, then place it next to the kitchenpot with smooth metallic lid",
+    "Set the red can with orange label right next to the silver kitchenpot",
+    "Grab the cylindrical sauce can, move it, and place by the silver pot with black grips",
+    "Take the small cylindrical sauce can with the left arm, place it near the silver pot with matching lid",
+    "With the left arm, grab the sauce can with red lid and move to the kitchenpot with smooth metallic lid",
+    "Lift the cylindrical sauce can and set it next to the metallic pot with plastic handles",
+    "Lift the sauce can with red lid using the left arm and drop it beside the rounded silver pot with handles",
+    "Move the sturdy sauce can with glossy finish from its spot to near the silver pot with black grips",
+    "Take the compact sauce can with plastic lid to the silver kitchenpot using the left arm",
+    "Place the sauce can with rounded top cap next to the kitchenpot with smooth metallic lid",
+    "Place the sturdy sauce can with glossy finish beside the silver kitchenpot with black grips after picking it up",
+    "Use the left arm to move the small metal sauce container beside the rounded pot with curved handles",
+    "Move the small cylindrical sauce can to the rounded silver pot with handles with the left arm",
+    "Use the left arm to pick the sauce can with printed design up and set it beside the rounded pot with curved handles",
+    "Use the left arm to take the small cylindrical sauce can to the medium-sized pot with plastic grips",
+    "Pick the sauce can with red lid up and carefully position it beside the rounded silver pot with handles",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it next to the silver kitchenpot",
+    "Pick the sauce can with rounded top cap up and move it next to the cooking pot with snug-fitting lid",
+    "Set the small metal sauce container near the rounded pot with curved handles after picking it up",
+    "Lift the metal body sauce can using the left arm and position it by the cooking pot with snug-fitting lid",
+    "Use the left arm to grab the metal body sauce can and move it beside the metallic pot with matte finish",
+    "Take the sauce can with rounded top cap using the left arm, set it next to the silver pot with black grips",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the rounded silver pot with handles",
+    "Use the left arm to grab the smooth sauce can and move it next to the cooking pot with snug-fitting lid",
+    "Grab the smooth sauce can, shift it, and place it close to the silver pot with matching lid",
+    "Use the left arm to pick the small cylindrical sauce can, position it near the rounded silver pot with handles",
+    "Grab the red can with orange label with the left arm and move it close to the silver pot with black grips",
+    "Move the sturdy sauce can with glossy finish to be next to the rounded pot with curved handles",
+    "Pick up the sauce can with printed design and put it beside the rounded silver pot with handles",
+    "Lift the sturdy sauce can with glossy finish and set it beside the metallic pot with matte finish",
+    "Lift the small metal sauce container and place it next to the cooking pot with snug-fitting lid",
+    "Grab the sauce can with printed design with the left arm and set it near the medium silver pot for cooking",
+    "Bring the sauce can with rounded top cap over and set it near the silver kitchenpot with black grips",
+    "Use the left arm to grab the small metal sauce container and transfer it near the medium silver pot for cooking",
+    "Pick up the sauce can with rounded top cap with the left arm and set by the silver pot with black grips",
+    "Pick the red and orange sauce can with the left arm and relocate it near the metallic pot with matte finish",
+    "Pick up the red and orange sauce can using the left arm, transfer it beside the rounded silver pot with handles",
+    "Move the red can with orange label beside the silver pot with black grips after lifting it",
+    "Lift the small cylindrical sauce can, place it by the silver kitchenpot with black grips",
+    "Grab the small metal sauce container with the left arm and position it beside the silver kitchenpot with black grips",
+    "Use the left arm to grab the sauce can with red lid, move it beside the medium silver pot for cooking",
+    "Pick the sturdy sauce can with glossy finish and position it next to the metallic pot with plastic handles",
+    "Pick the small cylindrical sauce can up with the left arm then place near the medium silver pot for cooking",
+    "Using the left arm, lift the sauce can with rounded top cap and place it by the cooking pot with snug-fitting lid"
+  ],
+  "unseen": [
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it near the rounded cooking pot with two handles",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot with black handles",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and move it near the kitchenpot for stovetop boiling",
+    "Lift the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and place it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Pick up the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the left arm to grab the red can with white text and place it by the medium kitchenpot with black handles",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and move it near the kitchenpot for stovetop boiling",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot with black handles",
+    "Use the left arm to pick up the red can with white text and move it beside the medium kitchenpot with black handles",
+    "Use the left arm to pick up the red can with white text, move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the medium kitchenpot with black handles",
+    "Lift the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it near the medium kitchenpot with black handles",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the left arm to grab the red sauce can and place it by the medium kitchenpot with black handles",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot with black handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the rounded cooking pot with two handles",
+    "Grab the red can with white text and move it near the rounded cooking pot with two handles",
+    "Lift the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it near the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot with black handles",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Lift the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and place it near the medium kitchenpot with black handles",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the rounded cooking pot with two handles",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot with black handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and move it near the rounded cooking pot with two handles",
+    "Lift the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and move it near the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it near the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the left arm to grab the red sauce can and place it by the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the red sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and move it near the medium kitchenpot with black handles",
+    "Lift the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to grab the red sauce can and place it by the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and move it near the medium kitchenpot with black handles",
+    "Lift the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the red sauce can and move it beside the rounded cooking pot with two handles",
+    "Use the left arm to pick up the red sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to grab the red sauce can and place it by the rounded cooking pot with two handles",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot for stovetop boiling"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode10.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..8912e42a23f4d9773968d1939f197b66a20c492e
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red and orange sauce can with the right arm and move it close to the black kitchenpot",
+    "Take the small metal sauce container with the right arm, place it near the black kitchenpot",
+    "Move the metal body sauce can beside the black metal kitchenpot after lifting it",
+    "Grab the metal body sauce can with the right arm and position it beside the medium kitchenpot with smooth surface",
+    "Use the right arm to move the small cylindrical sauce can beside the kitchenpot with metallic round lid",
+    "Pick the red can with orange label up and carefully position it beside the black kitchenpot with round lid",
+    "Pick the small cylindrical sauce can up and move it next to the black kitchenpot",
+    "Pick up the sturdy sauce can with glossy finish with the right arm and set by the kitchenpot for boiling food",
+    "Lift the red and orange sauce can and set it next to the black kitchenpot with round lid",
+    "Grab the metal body sauce can, move it to the black metal kitchenpot's side",
+    "Move the sauce can with printed design from its spot to near the kitchenpot for boiling food",
+    "Set the sauce can with rounded top cap near the kitchenpot for boiling food after picking it up",
+    "Use the right arm to grab the sauce can with printed design, move it beside the black kitchenpot",
+    "Use the right arm to lift the sauce can with printed design and place it near the black kitchenpot with silver and black handles",
+    "Lift the red and orange sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Pick the red and orange sauce can and position it next to the black kitchenpot with round lid",
+    "Grab the sturdy sauce can with glossy finish, move it, and place by the black kitchenpot with silver and black handles",
+    "Lift the sauce can with printed design and set it beside the black kitchenpot with round lid",
+    "Pick the cylindrical sauce can with the right arm and relocate it near the black kitchenpot",
+    "Grab the red can with orange label with the right arm and set it near the black kitchenpot",
+    "Pick the small cylindrical sauce can up with the right arm then place near the kitchenpot with metallic round lid",
+    "Lift the sauce can with printed design and move it near the black kitchenpot",
+    "Move the sturdy sauce can with glossy finish to be next to the kitchenpot with metallic round lid",
+    "Lift the red and orange sauce can using the right arm and position it by the kitchenpot for boiling food",
+    "Pick up the metal body sauce can and put it beside the black kitchenpot with silver handle bars",
+    "Place the sauce can with printed design beside the black kitchenpot with silver and black handles after picking it up",
+    "Lift the metal body sauce can, place it by the black kitchenpot",
+    "Lift the red and orange sauce can using the right arm and drop it beside the black kitchenpot with plastic lid handle",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the black cooking pot with silver handles",
+    "Move the sauce can with printed design to the black kitchenpot with plastic lid handle with the right arm",
+    "Use the right arm to pick the smooth sauce can, position it near the black kitchenpot with silver and black handles",
+    "Use the right arm to lift the sturdy sauce can with glossy finish, then move it next to the black metal kitchenpot",
+    "Grab the red and orange sauce can and move it close to the medium kitchenpot with smooth surface",
+    "Lift the sturdy sauce can with glossy finish, then place it next to the black kitchenpot with silver and black handles",
+    "Set the smooth sauce can right next to the black metal kitchenpot",
+    "Take the sauce can with red lid with the right arm, bring it, and set next to the cooking kitchenpot with sturdy handles",
+    "Place the cylindrical sauce can next to the black kitchenpot",
+    "Pick up the metal body sauce can using the right arm, transfer it beside the kitchenpot with metallic round lid",
+    "Grab the red can with orange label, shift it, and place it close to the black kitchenpot with flat lid",
+    "Using the right arm, lift the cylindrical sauce can and place it by the kitchenpot with metallic round lid",
+    "With the right arm, grab the red and orange sauce can and move to the black kitchenpot with round lid",
+    "Use the right arm to grab the sauce can with rounded top cap and move it beside the kitchenpot with metallic round lid",
+    "Use the right arm to pick the sauce can with red lid up and set it beside the medium kitchenpot with smooth surface",
+    "Use the right arm to grab the small metal sauce container and move it next to the black metal kitchenpot",
+    "Use the right arm to lift the red and orange sauce can and place it next to the black kitchenpot with round lid",
+    "Bring the red can with orange label over and set it near the black kitchenpot",
+    "Lift the metal body sauce can and place it next to the cooking kitchenpot with sturdy handles",
+    "Take the small metal sauce container using the right arm, set it next to the kitchenpot for boiling food",
+    "Use the right arm to take the cylindrical sauce can to the cooking kitchenpot with sturdy handles",
+    "Take the sturdy sauce can with glossy finish to the black kitchenpot with silver handle bars using the right arm",
+    "Grab the small cylindrical sauce can with the right arm and move it close to the black kitchenpot",
+    "Take the smooth sauce can with the right arm, place it near the black kitchenpot with silver and black handles",
+    "Move the red and orange sauce can beside the black cooking pot with silver handles after lifting it",
+    "Grab the compact sauce can with plastic lid with the right arm and position it beside the kitchenpot with metallic round lid",
+    "Use the right arm to move the sturdy sauce can with glossy finish beside the black kitchenpot with silver handle bars",
+    "Pick the sauce can with red lid up and carefully position it beside the black kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the black kitchenpot with round lid",
+    "Pick up the smooth sauce can with the right arm and set by the kitchenpot with metallic round lid",
+    "Lift the compact sauce can with plastic lid and set it next to the medium kitchenpot with smooth surface",
+    "Grab the sturdy sauce can with glossy finish, move it to the black kitchenpot with silver handle bars's side",
+    "Move the metal body sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Set the metal body sauce can near the kitchenpot for boiling food after picking it up",
+    "Use the right arm to grab the sauce can with red lid, move it beside the kitchenpot with metallic round lid",
+    "Use the right arm to lift the small cylindrical sauce can and place it near the cooking kitchenpot with sturdy handles",
+    "Lift the sauce can with rounded top cap and set it next to the black kitchenpot with silver handle bars",
+    "Pick the sauce can with printed design and position it next to the black kitchenpot with round lid",
+    "Grab the red can with orange label, move it, and place by the black cooking pot with silver handles",
+    "Lift the sauce can with printed design and set it beside the black kitchenpot with plastic lid handle",
+    "Pick the small metal sauce container with the right arm and relocate it near the black kitchenpot with silver handle bars",
+    "Grab the small metal sauce container with the right arm and set it near the black metal kitchenpot",
+    "Pick the sauce can with red lid up with the right arm then place near the black kitchenpot with round lid",
+    "Lift the metal body sauce can and move it near the black kitchenpot",
+    "Move the cylindrical sauce can to be next to the cooking kitchenpot with sturdy handles",
+    "Lift the metal body sauce can using the right arm and position it by the black kitchenpot with flat lid",
+    "Pick up the sauce can with red lid and put it beside the black metal kitchenpot",
+    "Place the metal body sauce can beside the black metal kitchenpot after picking it up",
+    "Lift the sauce can with rounded top cap, place it by the black metal kitchenpot",
+    "Lift the sauce can with red lid using the right arm and drop it beside the black kitchenpot",
+    "Use the right arm to grab the small metal sauce container and transfer it near the kitchenpot for boiling food",
+    "Move the sauce can with printed design to the black cooking pot with silver handles with the right arm",
+    "Use the right arm to pick the smooth sauce can, position it near the black kitchenpot with flat lid",
+    "Use the right arm to lift the small metal sauce container, then move it next to the kitchenpot with metallic round lid",
+    "Grab the sturdy sauce can with glossy finish and move it close to the kitchenpot with metallic round lid",
+    "Lift the red can with orange label, then place it next to the kitchenpot for boiling food",
+    "Set the smooth sauce can right next to the black kitchenpot with silver and black handles",
+    "Take the smooth sauce can with the right arm, bring it, and set next to the cooking kitchenpot with sturdy handles",
+    "Place the red and orange sauce can next to the black kitchenpot with round lid",
+    "Pick up the sturdy sauce can with glossy finish using the right arm, transfer it beside the kitchenpot with metallic round lid",
+    "Grab the sauce can with printed design, shift it, and place it close to the black kitchenpot with round lid",
+    "Using the right arm, lift the red and orange sauce can and place it by the kitchenpot for boiling food",
+    "With the right arm, grab the red and orange sauce can and move to the black kitchenpot with round lid",
+    "Use the right arm to grab the metal body sauce can and move it beside the black kitchenpot with silver handle bars",
+    "Use the right arm to pick the small cylindrical sauce can up and set it beside the black metal kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and move it next to the black metal kitchenpot",
+    "Use the right arm to lift the red and orange sauce can and place it next to the black kitchenpot with round lid",
+    "Bring the smooth sauce can over and set it near the medium kitchenpot with smooth surface",
+    "Lift the sauce can with printed design and place it next to the black metal kitchenpot",
+    "Take the red and orange sauce can using the right arm, set it next to the cooking kitchenpot with sturdy handles",
+    "Use the right arm to take the compact sauce can with plastic lid to the black kitchenpot",
+    "Take the small metal sauce container to the kitchenpot with metallic round lid using the right arm"
+  ],
+  "unseen": [
+    "Grab the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the round black kitchenpot",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Pick up the red sauce can and move it near the round black kitchenpot",
+    "Grab the red can with white text and place it beside the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it near the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red can with white text and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and move it near the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it beside the round black kitchenpot",
+    "Grab the red can with white text and place it near the medium black kitchenpot with lid",
+    "Lift the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Grab the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red can with white text, move it near the round black kitchenpot",
+    "Pick up the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the medium black kitchenpot with lid",
+    "Grab the red sauce can and place it near the round black kitchenpot",
+    "Lift the red sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the shiny black kitchenpot",
+    "Grab the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and move it near the round black kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the round black kitchenpot",
+    "Pick up the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the round black kitchenpot",
+    "Lift the red can with white text and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the medium black kitchenpot with lid",
+    "Grab the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the round black kitchenpot",
+    "Pick up the red sauce can and move it near the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the shiny black kitchenpot",
+    "Grab the red can with white text and place it near the shiny black kitchenpot",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red can with white text and place it by the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Grab the red can with white text and place it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the round black kitchenpot",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium black kitchenpot with lid",
+    "Grab the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the round black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Grab the red can with white text and place it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red can with white text and place it by the shiny black kitchenpot",
+    "Grab the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the medium black kitchenpot with lid",
+    "Pick up the red can with white text and move it near the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it beside the round black kitchenpot",
+    "Grab the red can with white text and place it near the round black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and move it near the round black kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the medium black kitchenpot with lid",
+    "Pick up the red sauce can and move it near the shiny black kitchenpot",
+    "Grab the red sauce can and place it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the medium black kitchenpot with lid",
+    "Grab the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the red sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red can with white text and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Grab the red can with white text and place it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it near the shiny black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the shiny black kitchenpot",
+    "Grab the red sauce can and set it beside the shiny black kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode11.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0c76871176e63248857b9307f9650e7dcf6ce2
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sturdy sauce can with glossy finish, move it beside the matte gray pot with durable lid",
+    "Using the left arm, lift the cylindrical sauce can and place it by the matte gray pot with durable lid",
+    "Pick up the small cylindrical sauce can using the left arm, transfer it beside the blue-lid kitchenpot",
+    "Lift the compact sauce can with plastic lid and move it near the gray kitchenpot",
+    "Use the left arm to take the sauce can with printed design to the round blue-lid kitchenpot for stovetop",
+    "Move the smooth sauce can to the round blue-lid kitchenpot for stovetop with the left arm",
+    "Use the left arm to move the red and orange sauce can beside the metal pot with dark handles",
+    "Lift the red can with orange label using the left arm and drop it beside the metal pot with dark handles",
+    "Grab the sauce can with rounded top cap, shift it, and place it close to the pots for boiling and cooking",
+    "Use the left arm to pick the compact sauce can with plastic lid up and set it beside the matte gray pot with durable lid",
+    "Pick the small cylindrical sauce can up and carefully position it beside the blue kitchenpot lid with black knob",
+    "Pick the sauce can with red lid up and move it next to the kitchenpot with plastic knob on lid",
+    "Lift the small metal sauce container using the left arm and position it by the blue kitchenpot lid with black knob",
+    "Take the cylindrical sauce can using the left arm, set it next to the round blue-lid kitchenpot for stovetop",
+    "Take the red and orange sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the sauce can with red lid with the left arm and move it close to the blue kitchenpot lid with black knob",
+    "Pick up the red and orange sauce can and put it beside the metal pot with dark handles",
+    "Use the left arm to grab the smooth sauce can and move it beside the blue kitchenpot lid with black knob",
+    "Grab the small cylindrical sauce can, move it, and place by the metal pot with dark handles",
+    "Lift the red can with orange label and set it beside the gray pot with blue circular lid",
+    "Grab the sturdy sauce can with glossy finish with the left arm and position it beside the gray pot with blue circular lid",
+    "Set the sauce can with rounded top cap right next to the metal kitchenpot with brown handles",
+    "Grab the cylindrical sauce can, move it to the gray pot with blue circular lid's side",
+    "Pick up the compact sauce can with plastic lid with the left arm and set by the round blue-lid kitchenpot for stovetop",
+    "Lift the sturdy sauce can with glossy finish, place it by the round blue-lid kitchenpot for stovetop",
+    "Grab the sturdy sauce can with glossy finish with the left arm and set it near the blue-lid kitchenpot",
+    "Move the small cylindrical sauce can beside the metal kitchenpot with brown handles after lifting it",
+    "Use the left arm to grab the small cylindrical sauce can and transfer it near the cooking pot with two handles",
+    "Lift the sauce can with printed design and place it next to the metal kitchenpot with brown handles",
+    "Take the smooth sauce can to the round blue-lid kitchenpot for stovetop using the left arm",
+    "Move the compact sauce can with plastic lid from its spot to near the gray pot with blue circular lid",
+    "Use the left arm to grab the red can with orange label and move it next to the round blue-lid kitchenpot for stovetop",
+    "Grab the small cylindrical sauce can and move it close to the cooking pot with two handles",
+    "Set the sauce can with red lid near the metal pot with dark handles after picking it up",
+    "With the left arm, grab the cylindrical sauce can and move to the pots for boiling and cooking",
+    "Move the red and orange sauce can to be next to the kitchenpot with plastic knob on lid",
+    "Lift the sauce can with red lid, then place it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the metal body sauce can, position it near the blue kitchenpot lid with black knob",
+    "Take the red and orange sauce can with the left arm, place it near the gray cylindrical pot",
+    "Pick the cylindrical sauce can up with the left arm then place near the cooking pot with two handles",
+    "Lift the red can with orange label and set it next to the gray kitchenpot",
+    "Pick the compact sauce can with plastic lid and position it next to the blue-lid kitchenpot",
+    "Use the left arm to lift the red and orange sauce can, then move it next to the metal pot with dark handles",
+    "Lift the sturdy sauce can with glossy finish and set it next to the gray kitchenpot",
+    "Place the cylindrical sauce can next to the cooking pot with two handles",
+    "Use the left arm to lift the sauce can with rounded top cap and place it next to the round blue-lid kitchenpot for stovetop",
+    "Place the small cylindrical sauce can beside the blue kitchenpot lid with black knob after picking it up",
+    "Use the left arm to lift the red can with orange label and place it near the cooking pot with two handles",
+    "Bring the sauce can with rounded top cap over and set it near the cooking pot with two handles",
+    "Pick the red can with orange label with the left arm and relocate it near the matte gray pot with durable lid",
+    "Use the left arm to grab the red and orange sauce can, move it beside the round blue-lid kitchenpot for stovetop",
+    "Using the left arm, lift the sauce can with rounded top cap and place it by the kitchenpot with plastic knob on lid",
+    "Pick up the sturdy sauce can with glossy finish using the left arm, transfer it beside the round blue-lid kitchenpot for stovetop",
+    "Lift the smooth sauce can and move it near the gray kitchenpot",
+    "Use the left arm to take the red can with orange label to the gray pot with blue circular lid",
+    "Move the sauce can with red lid to the gray pot with blue circular lid with the left arm",
+    "Use the left arm to move the small metal sauce container beside the metal kitchenpot with brown handles",
+    "Lift the compact sauce can with plastic lid using the left arm and drop it beside the blue-lid kitchenpot",
+    "Grab the smooth sauce can, shift it, and place it close to the blue-lid kitchenpot",
+    "Use the left arm to pick the small cylindrical sauce can up and set it beside the blue kitchenpot lid with black knob",
+    "Pick the metal body sauce can up and carefully position it beside the cooking pot with two handles",
+    "Pick the sturdy sauce can with glossy finish up and move it next to the metal pot with dark handles",
+    "Lift the sturdy sauce can with glossy finish using the left arm and position it by the cooking pot with two handles",
+    "Take the small metal sauce container using the left arm, set it next to the gray cylindrical pot",
+    "Take the sauce can with printed design with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the metal body sauce can with the left arm and move it close to the gray pot with blue circular lid",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the cooking pot with two handles",
+    "Use the left arm to grab the small metal sauce container and move it beside the gray cylindrical pot",
+    "Grab the red and orange sauce can, move it, and place by the cooking pot with two handles",
+    "Lift the sauce can with printed design and set it beside the cooking pot with two handles",
+    "Grab the cylindrical sauce can with the left arm and position it beside the gray cylindrical pot",
+    "Set the red and orange sauce can right next to the gray kitchenpot",
+    "Grab the sauce can with red lid, move it to the metal pot with dark handles's side",
+    "Pick up the smooth sauce can with the left arm and set by the metal pot with dark handles",
+    "Lift the sauce can with rounded top cap, place it by the blue kitchenpot lid with black knob",
+    "Grab the cylindrical sauce can with the left arm and set it near the gray cylindrical pot",
+    "Move the small cylindrical sauce can beside the kitchenpot with plastic knob on lid after lifting it",
+    "Use the left arm to grab the metal body sauce can and transfer it near the gray cylindrical pot",
+    "Lift the small metal sauce container and place it next to the metal pot with dark handles",
+    "Take the sauce can with printed design to the gray cylindrical pot using the left arm",
+    "Move the red and orange sauce can from its spot to near the metal kitchenpot with brown handles",
+    "Use the left arm to grab the small metal sauce container and move it next to the kitchenpot with plastic knob on lid",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with plastic knob on lid",
+    "Set the red and orange sauce can near the blue-lid kitchenpot after picking it up",
+    "With the left arm, grab the metal body sauce can and move to the blue kitchenpot lid with black knob",
+    "Move the small cylindrical sauce can to be next to the metal kitchenpot with brown handles",
+    "Lift the smooth sauce can, then place it next to the blue-lid kitchenpot",
+    "Use the left arm to pick the smooth sauce can, position it near the blue kitchenpot lid with black knob",
+    "Take the smooth sauce can with the left arm, place it near the gray cylindrical pot",
+    "Pick the small metal sauce container up with the left arm then place near the gray pot with blue circular lid",
+    "Lift the sauce can with printed design and set it next to the pots for boiling and cooking",
+    "Pick the small metal sauce container and position it next to the metal pot with dark handles",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the blue-lid kitchenpot",
+    "Lift the metal body sauce can and set it next to the gray cylindrical pot",
+    "Place the smooth sauce can next to the gray cylindrical pot",
+    "Use the left arm to lift the small cylindrical sauce can and place it next to the blue kitchenpot lid with black knob",
+    "Place the sauce can with rounded top cap beside the gray pot with blue circular lid after picking it up",
+    "Use the left arm to lift the smooth sauce can and place it near the gray kitchenpot",
+    "Bring the sauce can with red lid over and set it near the blue-lid kitchenpot",
+    "Pick the small cylindrical sauce can with the left arm and relocate it near the gray pot with blue circular lid"
+  ],
+  "unseen": [
+    "Grab the red sauce can and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the red sauce can, move it near the medium stove pot",
+    "Pick up the red sauce can and move it near the medium stove pot",
+    "Grab the sauce can with round ridged lid and place it near the round pot with blue top",
+    "Use the left arm to pick up the red sauce can and move it beside the medium stove pot",
+    "Grab the red can with white text and move it near the medium stove pot",
+    "Pick up the red sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the red can with white text and place it by the medium stove pot",
+    "Lift the red can with white text and set it beside the round pot with blue top",
+    "Grab the red can with white text and place it beside the round pot with blue top",
+    "Grab the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to pick up the red sauce can, move it near the round pot with blue top",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot with smooth matte body",
+    "Grab the red sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the round pot with blue top",
+    "Grab the red can with white text and move it near the medium stove pot",
+    "Pick up the red sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the red can with white text and place it by the medium stove pot",
+    "Lift the sauce can with round ridged lid and set it beside the round pot with blue top",
+    "Grab the red can with white text and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and set it beside the round pot with blue top",
+    "Use the left arm to pick up the red can with white text, move it near the medium stove pot",
+    "Pick up the sauce can with round ridged lid and move it near the round pot with blue top",
+    "Grab the sauce can with round ridged lid and place it near the medium stove pot",
+    "Use the left arm to pick up the red can with white text and move it beside the round pot with blue top",
+    "Grab the sauce can with round ridged lid and move it near the round pot with blue top",
+    "Pick up the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the round pot with blue top",
+    "Lift the red can with white text and set it beside the medium stove pot",
+    "Grab the red can with white text and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and set it beside the round pot with blue top",
+    "Use the left arm to pick up the red sauce can, move it near the round pot with blue top",
+    "Pick up the red can with white text and move it near the round pot with blue top",
+    "Grab the red can with white text and place it near the medium stove pot",
+    "Use the left arm to pick up the red can with white text and move it beside the medium stove pot",
+    "Grab the red sauce can and move it near the medium stove pot",
+    "Pick up the red can with white text and set it beside the round pot with blue top",
+    "Use the left arm to grab the red sauce can and place it by the medium stove pot",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot with smooth matte body",
+    "Grab the red can with white text and set it beside the round pot with blue top",
+    "Use the left arm to pick up the red can with white text, move it near the kitchenpot with smooth matte body",
+    "Pick up the red can with white text and move it near the medium stove pot",
+    "Grab the red sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the red sauce can and move it beside the medium stove pot",
+    "Grab the red sauce can and move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with round ridged lid and set it beside the round pot with blue top",
+    "Use the left arm to grab the red sauce can and place it by the round pot with blue top",
+    "Lift the red can with white text and set it beside the kitchenpot with smooth matte body",
+    "Grab the red can with white text and place it beside the round pot with blue top",
+    "Grab the sauce can with round ridged lid and set it beside the round pot with blue top",
+    "Use the left arm to pick up the red can with white text, move it near the medium stove pot",
+    "Pick up the red can with white text and move it near the round pot with blue top",
+    "Grab the red can with white text and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the medium stove pot",
+    "Grab the sauce can with round ridged lid and move it near the round pot with blue top",
+    "Pick up the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the kitchenpot with smooth matte body",
+    "Lift the red can with white text and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to pick up the red can with white text, move it near the round pot with blue top",
+    "Pick up the sauce can with round ridged lid and move it near the medium stove pot",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the red can with white text and move it beside the round pot with blue top",
+    "Grab the red can with white text and move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the red sauce can and place it by the kitchenpot with smooth matte body",
+    "Lift the red can with white text and set it beside the kitchenpot with smooth matte body",
+    "Grab the red sauce can and place it beside the medium stove pot",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot with smooth matte body",
+    "Grab the red sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the red can with white text and move it beside the round pot with blue top",
+    "Grab the red sauce can and move it near the round pot with blue top",
+    "Pick up the red sauce can and set it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the kitchenpot with smooth matte body",
+    "Lift the red can with white text and set it beside the round pot with blue top",
+    "Grab the red sauce can and place it beside the medium stove pot",
+    "Grab the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with round ridged lid and move it near the medium stove pot",
+    "Grab the red sauce can and place it near the round pot with blue top",
+    "Use the left arm to pick up the red can with white text and move it beside the medium stove pot",
+    "Grab the red sauce can and move it near the medium stove pot",
+    "Pick up the red sauce can and set it beside the medium stove pot",
+    "Use the left arm to grab the red sauce can and place it by the round pot with blue top",
+    "Lift the red can with white text and set it beside the kitchenpot with smooth matte body",
+    "Grab the red can with white text and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot with smooth matte body",
+    "Pick up the red sauce can and move it near the round pot with blue top",
+    "Grab the red can with white text and place it near the round pot with blue top",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot with smooth matte body",
+    "Grab the red sauce can and move it near the round pot with blue top",
+    "Pick up the sauce can with round ridged lid and set it beside the medium stove pot",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot with smooth matte body",
+    "Lift the red can with white text and set it beside the round pot with blue top"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode12.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fdc9b0913a5fcfb78caea6251baa244a903163e
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the round sauce can with yellow pattern and place it near the black cooking pot with silver handles",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the medium kitchenpot with smooth surface",
+    "Grab the cylindrical sauce can, move it to the black kitchenpot's side",
+    "With the right arm, grab the rounded-edge sauce can and move to the black cooking pot with silver handles",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and drop it beside the black cooking pot with silver handles",
+    "Pick up the round sauce can with yellow pattern with the right arm and set by the kitchenpot with metallic round lid",
+    "Use the right arm to pick the brown and yellow cylindrical sauce can, position it near the kitchenpot with metallic round lid",
+    "Grab the sauce can with glossy finish with the right arm and position it beside the kitchenpot for boiling food",
+    "Lift the sauce can with sealed top and move it near the black kitchenpot with round lid",
+    "Lift the hand-sized sauce can and set it beside the black kitchenpot with silver handle bars",
+    "Using the right arm, lift the sauce can with glossy finish and place it by the black kitchenpot with silver and black handles",
+    "Grab the cylindrical sauce can with the right arm and set it near the kitchenpot for boiling food",
+    "Use the right arm to move the plastic lid sauce can beside the black metal kitchenpot",
+    "Pick the hand-sized sauce can up and move it next to the black cooking pot with silver handles",
+    "Lift the medium sauce can with white lid and set it next to the medium kitchenpot with smooth surface",
+    "Use the right arm to pick the sauce can with glossy finish up and set it beside the black kitchenpot",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it next to the cooking kitchenpot with sturdy handles",
+    "Take the yellow brown sauce can to the medium kitchenpot with smooth surface using the right arm",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and transfer it near the cooking kitchenpot with sturdy handles",
+    "Place the sauce can with sealed top next to the black kitchenpot",
+    "Use the right arm to grab the round sauce can with yellow pattern and move it beside the black kitchenpot with round lid",
+    "Set the yellow brown sauce can right next to the medium kitchenpot with smooth surface",
+    "Move the cylindrical sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Grab the sauce can with glossy finish, move it, and place by the black cooking pot with silver handles",
+    "Take the medium sauce can with white lid with the right arm, place it near the black cooking pot with silver handles",
+    "Lift the yellow brown sauce can, then place it next to the black kitchenpot with silver and black handles",
+    "Pick up the white plastic lid sauce can and put it beside the black metal kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot with metallic round lid",
+    "Set the hand-sized sauce can near the black kitchenpot with round lid after picking it up",
+    "Bring the yellow brown sauce can over and set it near the black kitchenpot with plastic lid handle",
+    "Lift the medium sauce can with white lid and set it next to the black kitchenpot with silver handle bars",
+    "Pick the cylindrical sauce can up and carefully position it beside the black kitchenpot with silver handle bars",
+    "Use the right arm to grab the rounded-edge sauce can, move it beside the black kitchenpot",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it next to the black kitchenpot with round lid",
+    "Pick up the yellow brown sauce can using the right arm, transfer it beside the black kitchenpot with flat lid",
+    "Take the sauce can with glossy finish using the right arm, set it next to the black kitchenpot with plastic lid handle",
+    "Pick the medium sauce can with white lid up with the right arm then place near the black kitchenpot with flat lid",
+    "Lift the plastic lid sauce can and place it next to the black kitchenpot with round lid",
+    "Lift the sauce can with glossy finish using the right arm and position it by the black kitchenpot",
+    "Grab the plastic lid sauce can with the right arm and move it close to the black kitchenpot with round lid",
+    "Move the cylindrical sauce can beside the kitchenpot for boiling food after lifting it",
+    "Move the hand-sized sauce can to the kitchenpot for boiling food with the right arm",
+    "Lift the medium sauce can with white lid, place it by the black metal kitchenpot",
+    "Place the sauce can with sealed top beside the kitchenpot with metallic round lid after picking it up",
+    "Move the cylindrical sauce can to be next to the black kitchenpot with round lid",
+    "Use the right arm to take the sauce can with sealed top to the black kitchenpot with silver handle bars",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium kitchenpot with smooth surface",
+    "Pick the hand-sized sauce can and position it next to the black kitchenpot with plastic lid handle",
+    "Pick the sauce can with the right arm and relocate it near the medium kitchenpot with smooth surface",
+    "Take the round sauce can with yellow pattern with the right arm, bring it, and set next to the black kitchenpot with flat lid",
+    "Use the right arm to lift the sauce can with glossy finish and place it near the kitchenpot with metallic round lid",
+    "Use the right arm to lift the plastic lid sauce can, then move it next to the medium kitchenpot with smooth surface",
+    "Grab the cylindrical sauce can, move it to the black kitchenpot with plastic lid handle's side",
+    "With the right arm, grab the rounded-edge sauce can and move to the cooking kitchenpot with sturdy handles",
+    "Lift the round sauce can with yellow pattern using the right arm and drop it beside the cooking kitchenpot with sturdy handles",
+    "Pick up the white plastic lid sauce can with the right arm and set by the black kitchenpot with flat lid",
+    "Use the right arm to pick the cylindrical sauce can, position it near the black kitchenpot with silver and black handles",
+    "Grab the round sauce can with yellow pattern with the right arm and position it beside the cooking kitchenpot with sturdy handles",
+    "Lift the sauce can with glossy finish and move it near the medium kitchenpot with smooth surface",
+    "Lift the sauce can and set it beside the black kitchenpot with round lid",
+    "Using the right arm, lift the yellow brown sauce can and place it by the black kitchenpot with round lid",
+    "Grab the plastic lid sauce can with the right arm and set it near the black kitchenpot with silver handle bars",
+    "Use the right arm to move the hand-sized sauce can beside the black kitchenpot with flat lid",
+    "Pick the round sauce can with yellow pattern up and move it next to the black metal kitchenpot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with metallic round lid",
+    "Use the right arm to pick the round sauce can with yellow pattern up and set it beside the black kitchenpot with flat lid",
+    "Use the right arm to grab the plastic lid sauce can and move it next to the black kitchenpot with silver handle bars",
+    "Take the yellow brown sauce can to the medium kitchenpot with smooth surface using the right arm",
+    "Use the right arm to grab the rounded-edge sauce can and transfer it near the black kitchenpot with flat lid",
+    "Place the round sauce can with yellow pattern next to the kitchenpot for boiling food",
+    "Use the right arm to grab the medium sauce can with white lid and move it beside the black kitchenpot with round lid",
+    "Set the round sauce can with yellow pattern right next to the kitchenpot with metallic round lid",
+    "Move the yellow brown sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Grab the white plastic lid sauce can, move it, and place by the medium kitchenpot with smooth surface",
+    "Take the brown and yellow cylindrical sauce can with the right arm, place it near the black kitchenpot with silver handle bars",
+    "Lift the rounded-edge sauce can, then place it next to the black kitchenpot with silver handle bars",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the black kitchenpot",
+    "Grab the plastic lid sauce can and move it close to the kitchenpot with metallic round lid",
+    "Set the sauce can with sealed top near the black kitchenpot after picking it up",
+    "Bring the plastic lid sauce can over and set it near the black kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the medium kitchenpot with smooth surface",
+    "Use the right arm to grab the white plastic lid sauce can, move it beside the black kitchenpot with plastic lid handle",
+    "Use the right arm to lift the medium sauce can with white lid and place it next to the black metal kitchenpot",
+    "Pick up the sauce can using the right arm, transfer it beside the black kitchenpot with silver handle bars",
+    "Take the hand-sized sauce can using the right arm, set it next to the black kitchenpot with silver handle bars",
+    "Pick the yellow brown sauce can up with the right arm then place near the kitchenpot for boiling food",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot for boiling food",
+    "Lift the plastic lid sauce can using the right arm and position it by the black kitchenpot",
+    "Grab the medium sauce can with white lid with the right arm and move it close to the black kitchenpot with flat lid",
+    "Move the brown and yellow cylindrical sauce can beside the black kitchenpot after lifting it",
+    "Move the sauce can with sealed top to the black kitchenpot with silver handle bars with the right arm",
+    "Lift the hand-sized sauce can, place it by the black kitchenpot with round lid",
+    "Place the cylindrical sauce can beside the black kitchenpot after picking it up",
+    "Move the sauce can to be next to the black kitchenpot with silver and black handles",
+    "Use the right arm to take the plastic lid sauce can to the black kitchenpot with plastic lid handle",
+    "Grab the sauce can, shift it, and place it close to the medium kitchenpot with smooth surface",
+    "Pick the sauce can with glossy finish and position it next to the black kitchenpot",
+    "Pick the round sauce can with yellow pattern with the right arm and relocate it near the medium kitchenpot with smooth surface",
+    "Take the white plastic lid sauce can with the right arm, bring it, and set next to the cooking kitchenpot with sturdy handles"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the shiny black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it beside the round black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it near the shiny black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and move it near the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the smooth sauce can and place it beside the shiny black kitchenpot",
+    "Lift the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the yellow label on sauce can and move it near the round black kitchenpot",
+    "Grab the smooth sauce can and move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the shiny black kitchenpot",
+    "Lift the smooth sauce can and set it beside the round black kitchenpot",
+    "Grab the smooth sauce can and place it near the shiny black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the medium black kitchenpot with lid",
+    "Use the right arm to pick up the smooth sauce can and move it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the round black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and move it near the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the smooth sauce can and place it beside the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it near the round black kitchenpot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the round black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the shiny black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium black kitchenpot with lid",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium black kitchenpot with lid",
+    "Use the right arm to pick up the smooth sauce can and move it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the smooth sauce can, move it near the shiny black kitchenpot",
+    "Pick up the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it beside the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it near the medium black kitchenpot with lid",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Lift the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the medium black kitchenpot with lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the shiny black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the shiny black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the smooth sauce can and place it beside the medium black kitchenpot with lid",
+    "Lift the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the shiny black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the round black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the round black kitchenpot",
+    "Pick up the smooth sauce can and move it near the shiny black kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode13.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f28257835f0cc0ba9482c3d59faa1ee6f993f44
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the white sauce can brown top and move to the gray kitchenpot",
+    "Set the white cylindrical sauce holder right next to the pot with round lid",
+    "Use the right arm to grab the brown top white sauce can, move it beside the medium-sized smooth gray cooking pot",
+    "Bring the metal can with plastic lid over and set it near the kitchenpot with smooth texture",
+    "Grab the metal can with plastic lid with the right arm and position it beside the medium gray pot with handles",
+    "Place the brown cap sauce storage can beside the gray pot for boiling food after picking it up",
+    "Using the right arm, lift the brown cap sauce storage can and place it by the pot with round lid",
+    "Grab the brown-lid sauce can and move it close to the gray pot for boiling food",
+    "Take the white sauce can with label to the dark gray pot with side handles using the right arm",
+    "Place the brown top white sauce can next to the pot with round lid",
+    "Use the right arm to pick the brown top white sauce can, position it near the round pot with dark gray knob",
+    "Grab the brown-lid sauce can with the right arm and set it near the metal cooking pot",
+    "Lift the cylindrical can brown round top and set it next to the pot with lid and sturdy handles",
+    "Use the right arm to grab the white sauce can with label and move it beside the metal cooking pot",
+    "Use the right arm to lift the brown-lid sauce can and place it next to the medium gray pot with handles",
+    "Pick up the metal can with plastic lid and put it beside the medium-sized smooth gray cooking pot",
+    "Grab the cylindrical container for sauce, shift it, and place it close to the metal cooking pot",
+    "Pick the white sauce can brown top up with the right arm then place near the gray pot for boiling food",
+    "Lift the cylindrical can brown round top using the right arm and drop it beside the dark gray pot with side handles",
+    "Pick up the brown-lid sauce can with the right arm and set by the medium-sized smooth gray cooking pot",
+    "Take the white sauce can with label with the right arm, place it near the gray pot for boiling food",
+    "Move the cylindrical can brown round top to the gray pot for boiling food with the right arm",
+    "Pick up the cylindrical container for sauce using the right arm, transfer it beside the rounded pot with metal lid",
+    "Use the right arm to move the white cylindrical sauce holder beside the round pot with dark gray knob",
+    "Lift the cylindrical container for sauce and move it near the medium gray pot with handles",
+    "Lift the brown top white sauce can and place it next to the metal cooking pot",
+    "Lift the cylindrical can brown round top, place it by the medium gray pot with handles",
+    "Pick the white sauce can brown top up and carefully position it beside the medium-sized smooth gray cooking pot",
+    "Move the metal can with plastic lid beside the pot with round lid after lifting it",
+    "Use the right arm to grab the cylindrical can brown round top and move it next to the dark gray pot with side handles",
+    "Lift the brown cap sauce storage can, then place it next to the rounded pot with metal lid",
+    "Pick the brown top white sauce can with the right arm and relocate it near the kitchenpot used for cooking meals",
+    "Use the right arm to lift the smooth metal sauce can white, then move it next to the gray kitchenpot",
+    "Move the brown-lid sauce can from its spot to near the metal cooking pot",
+    "Use the right arm to lift the brown-lid sauce can and place it near the metal cooking pot",
+    "Use the right arm to pick the cylindrical can brown round top up and set it beside the medium-sized smooth gray cooking pot",
+    "Use the right arm to grab the cylindrical can brown round top and transfer it near the pot with lid and sturdy handles",
+    "Grab the brown cap sauce storage can, move it to the gray kitchenpot's side",
+    "Lift the white cylindrical sauce holder and set it beside the dark gray pot with side handles",
+    "Pick the cylindrical container for sauce and position it next to the kitchenpot with smooth texture",
+    "Set the hand-held sauce container near the medium gray pot with handles after picking it up",
+    "Lift the white sauce can brown top and set it next to the metal cooking pot",
+    "Pick the white label brown lidded can up and move it next to the medium-sized smooth gray cooking pot",
+    "Use the right arm to take the white cylindrical sauce holder to the medium-sized smooth gray cooking pot",
+    "Move the white sauce can with label to be next to the kitchenpot used for cooking meals",
+    "Take the brown top white sauce can with the right arm, bring it, and set next to the round pot with dark gray knob",
+    "Lift the white cylindrical sauce holder using the right arm and position it by the dark gray pot with side handles",
+    "Grab the hand-held sauce container with the right arm and move it close to the pot with lid and sturdy handles",
+    "Take the white label brown lidded can using the right arm, set it next to the round pot with dark gray knob",
+    "Grab the white sauce can brown top, move it, and place by the medium gray pot with handles",
+    "With the right arm, grab the white label brown lidded can and move to the kitchenpot with smooth texture",
+    "Set the metal can with plastic lid right next to the medium-sized smooth gray cooking pot",
+    "Use the right arm to grab the white sauce can with label, move it beside the medium-sized smooth gray cooking pot",
+    "Bring the brown cap sauce storage can over and set it near the pot with lid and sturdy handles",
+    "Grab the metal can with plastic lid with the right arm and position it beside the kitchenpot with smooth texture",
+    "Place the brown-lid sauce can beside the kitchenpot used for cooking meals after picking it up",
+    "Using the right arm, lift the brown cap sauce storage can and place it by the dark gray pot with side handles",
+    "Grab the cylindrical can brown round top and move it close to the dark gray pot with side handles",
+    "Take the white label brown lidded can to the pot with lid and sturdy handles using the right arm",
+    "Place the cylindrical can brown round top next to the gray kitchenpot",
+    "Use the right arm to pick the hand-held sauce container, position it near the kitchenpot with smooth texture",
+    "Grab the white sauce can brown top with the right arm and set it near the gray kitchenpot",
+    "Lift the metal can with plastic lid and set it next to the kitchenpot with smooth texture",
+    "Use the right arm to grab the brown-lid sauce can and move it beside the kitchenpot used for cooking meals",
+    "Use the right arm to lift the white sauce can with label and place it next to the kitchenpot used for cooking meals",
+    "Pick up the brown-lid sauce can and put it beside the dark gray pot with side handles",
+    "Grab the brown cap sauce storage can, shift it, and place it close to the metal cooking pot",
+    "Pick the cylindrical can brown round top up with the right arm then place near the dark gray pot with side handles",
+    "Lift the cylindrical can brown round top using the right arm and drop it beside the round pot with dark gray knob",
+    "Pick up the brown cap sauce storage can with the right arm and set by the kitchenpot used for cooking meals",
+    "Take the brown cap sauce storage can with the right arm, place it near the pot with round lid",
+    "Move the cylindrical container for sauce to the gray pot for boiling food with the right arm",
+    "Pick up the white sauce can with label using the right arm, transfer it beside the round pot with dark gray knob",
+    "Use the right arm to move the metal can with plastic lid beside the gray kitchenpot",
+    "Lift the cylindrical can brown round top and move it near the pot with lid and sturdy handles",
+    "Lift the smooth metal sauce can white and place it next to the pot with round lid",
+    "Lift the brown-lid sauce can, place it by the pot with round lid",
+    "Pick the white cylindrical sauce holder up and carefully position it beside the pot with lid and sturdy handles",
+    "Move the white sauce can brown top beside the kitchenpot with smooth texture after lifting it",
+    "Use the right arm to grab the white sauce can with label and move it next to the gray kitchenpot",
+    "Lift the cylindrical container for sauce, then place it next to the pot with round lid",
+    "Pick the white label brown lidded can with the right arm and relocate it near the gray pot for boiling food",
+    "Use the right arm to lift the metal can with plastic lid, then move it next to the medium-sized smooth gray cooking pot",
+    "Move the white sauce can with label from its spot to near the kitchenpot with smooth texture",
+    "Use the right arm to lift the cylindrical container for sauce and place it near the dark gray pot with side handles",
+    "Use the right arm to pick the metal can with plastic lid up and set it beside the kitchenpot with smooth texture",
+    "Use the right arm to grab the white label brown lidded can and transfer it near the medium gray pot with handles",
+    "Grab the brown top white sauce can, move it to the medium gray pot with handles's side",
+    "Lift the smooth metal sauce can white and set it beside the kitchenpot with smooth texture",
+    "Pick the cylindrical container for sauce and position it next to the medium gray pot with handles",
+    "Set the brown top white sauce can near the dark gray pot with side handles after picking it up",
+    "Lift the cylindrical container for sauce and set it next to the round pot with dark gray knob",
+    "Pick the brown cap sauce storage can up and move it next to the gray pot for boiling food",
+    "Use the right arm to take the brown-lid sauce can to the medium gray pot with handles",
+    "Move the white sauce can with label to be next to the pot with lid and sturdy handles",
+    "Take the cylindrical can brown round top with the right arm, bring it, and set next to the pot with round lid",
+    "Lift the white sauce can brown top using the right arm and position it by the medium gray pot with handles",
+    "Grab the cylindrical container for sauce with the right arm and move it close to the dark gray pot with side handles",
+    "Take the white sauce can brown top using the right arm, set it next to the medium gray pot with handles",
+    "Grab the metal can with plastic lid, move it, and place by the medium gray pot with handles"
+  ],
+  "unseen": [
+    "Pick up the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Lift the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and place it near the metal pot with curved handles",
+    "Grab the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Grab the medium sauce can with white label and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the sauce can and place it by the metal pot with curved handles",
+    "Grab the medium-size cylindrical sauce can and move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Pick up the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium sauce can with white label and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the metal pot with curved handles",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and move it near the smooth gray pot with matte finish",
+    "Pick up the sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the medium sauce can with white label and set it beside the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium-size cylindrical sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Lift the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the sauce can and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the metal pot with curved handles",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the medium sauce can with white label and place it by the metal pot with curved handles",
+    "Grab the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can and set it beside the metal pot with curved handles",
+    "Pick up the sauce can and move it near the smooth gray pot with matte finish",
+    "Lift the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and place it near the metal pot with curved handles",
+    "Grab the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the medium sauce can with white label and place it by the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the sauce can and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the sauce can and move it near the metal pot with curved handles",
+    "Pick up the medium sauce can with white label and set it beside the smooth gray pot with matte finish",
+    "Pick up the medium sauce can with white label and move it near the smooth gray pot with matte finish",
+    "Lift the medium sauce can with white label and set it beside the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it near the metal pot with curved handles",
+    "Grab the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the medium sauce can with white label and place it by the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and move it near the metal pot with curved handles",
+    "Pick up the sauce can and set it beside the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it near the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the sauce can and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the metal pot with curved handles",
+    "Grab the medium sauce can with white label and move it near the smooth gray pot with matte finish",
+    "Pick up the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Lift the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium-size cylindrical sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode14.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..029cdc9831ec14380f0e33ac93e405ffa0087585
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can with flat top, place it by the kitchenpot with metallic round lid",
+    "Use the right arm to grab the smooth sauce can and transfer it near the black kitchenpot with silver and black handles",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the medium kitchenpot with smooth surface",
+    "Take the smooth sauce can with the right arm, place it near the cooking kitchenpot with sturdy handles",
+    "Move the red sauce can for holding condiments beside the black kitchenpot with plastic lid handle after lifting it",
+    "Pick the cylindrical sauce can and position it next to the black kitchenpot with silver handle bars",
+    "Use the right arm to lift the sauce can with flat top, then move it next to the cooking kitchenpot with sturdy handles",
+    "Pick the medium-sized red sauce can with the right arm and relocate it near the black cooking pot with silver handles",
+    "Use the right arm to lift the red can with gold patterns and place it next to the black kitchenpot with silver handle bars",
+    "Place the red sauce can beside the kitchenpot for boiling food after picking it up",
+    "Bring the sauce can with flat top over and set it near the black kitchenpot with round lid",
+    "Take the red and gold sauce can to the black kitchenpot with silver and black handles using the right arm",
+    "Grab the cylindrical sauce can, move it to the black cooking pot with silver handles's side",
+    "Lift the cylindrical sauce can and set it beside the black kitchenpot with flat lid",
+    "Use the right arm to grab the sauce can with flat top and move it beside the black cooking pot with silver handles",
+    "Use the right arm to pick the red cylindrical sauce can, position it near the black kitchenpot with silver and black handles",
+    "Pick up the red and gold sauce can using the right arm, transfer it beside the black kitchenpot with silver and black handles",
+    "Place the red sauce can for holding condiments next to the black kitchenpot with silver handle bars",
+    "Lift the red sauce can for holding condiments and place it next to the kitchenpot with metallic round lid",
+    "Set the red plastic sauce can near the kitchenpot for boiling food after picking it up",
+    "With the right arm, grab the sauce can with white details and move to the black kitchenpot with plastic lid handle",
+    "Pick the red sauce can up with the right arm then place near the medium kitchenpot with smooth surface",
+    "Pick the smooth sauce can up and move it next to the black metal kitchenpot",
+    "Use the right arm to lift the sauce can with white details and place it near the black kitchenpot with silver and black handles",
+    "Use the right arm to grab the red cylindrical sauce can and move it next to the medium kitchenpot with smooth surface",
+    "Grab the medium-sized red sauce can with the right arm and position it beside the black kitchenpot with plastic lid handle",
+    "Lift the red and gold sauce can and move it near the kitchenpot for boiling food",
+    "Grab the smooth sauce can, shift it, and place it close to the kitchenpot for boiling food",
+    "Lift the red sauce can for holding condiments using the right arm and position it by the medium kitchenpot with smooth surface",
+    "Grab the sauce can with flat bottom with the right arm and move it close to the black kitchenpot with round lid",
+    "Move the red plastic sauce can to be next to the kitchenpot for boiling food",
+    "Lift the smooth sauce can and set it next to the black cooking pot with silver handles",
+    "Move the cylindrical sauce can to the black kitchenpot with the right arm",
+    "Lift the red can with gold patterns and set it next to the black kitchenpot with flat lid",
+    "Use the right arm to move the sauce can with flat bottom beside the black cooking pot with silver handles",
+    "Move the smooth sauce can from its spot to near the black kitchenpot with silver and black handles",
+    "Pick up the sauce can with flat top and put it beside the black kitchenpot with plastic lid handle",
+    "Take the sauce can with flat top with the right arm, bring it, and set next to the black kitchenpot with silver handle bars",
+    "Pick the medium-sized red sauce can up and carefully position it beside the medium kitchenpot with smooth surface",
+    "Grab the red plastic sauce can and move it close to the kitchenpot with metallic round lid",
+    "Lift the cylindrical sauce can, then place it next to the cooking kitchenpot with sturdy handles",
+    "Using the right arm, lift the red plastic sauce can and place it by the black cooking pot with silver handles",
+    "Grab the red and gold sauce can with the right arm and set it near the black kitchenpot with silver handle bars",
+    "Take the medium-sized red sauce can using the right arm, set it next to the black kitchenpot with silver handle bars",
+    "Use the right arm to take the red sauce can for holding condiments to the kitchenpot with metallic round lid",
+    "Grab the red can with gold patterns, move it, and place by the black metal kitchenpot",
+    "Use the right arm to pick the red can with gold patterns up and set it beside the black kitchenpot with silver and black handles",
+    "Pick up the cylindrical sauce can with the right arm and set by the black kitchenpot with silver handle bars",
+    "Set the sauce can with flat top right next to the black kitchenpot with silver handle bars",
+    "Lift the medium-sized red sauce can using the right arm and drop it beside the black metal kitchenpot",
+    "Lift the red plastic sauce can, place it by the black kitchenpot with round lid",
+    "Use the right arm to grab the red sauce can and transfer it near the black kitchenpot with silver and black handles",
+    "Use the right arm to grab the red can with gold patterns, move it beside the black kitchenpot with silver handle bars",
+    "Take the red sauce can with the right arm, place it near the black cooking pot with silver handles",
+    "Move the red can with gold patterns beside the kitchenpot for boiling food after lifting it",
+    "Pick the red can with gold patterns and position it next to the kitchenpot with metallic round lid",
+    "Use the right arm to lift the red can with gold patterns, then move it next to the cooking kitchenpot with sturdy handles",
+    "Pick the red sauce can for holding condiments with the right arm and relocate it near the black metal kitchenpot",
+    "Use the right arm to lift the red cylindrical sauce can and place it next to the black kitchenpot with silver and black handles",
+    "Place the red cylindrical sauce can beside the black metal kitchenpot after picking it up",
+    "Bring the red sauce can over and set it near the kitchenpot for boiling food",
+    "Take the red cylindrical sauce can to the black kitchenpot with silver handle bars using the right arm",
+    "Grab the sauce can with flat top, move it to the kitchenpot for boiling food's side",
+    "Lift the cylindrical sauce can and set it beside the black kitchenpot",
+    "Use the right arm to grab the medium-sized red sauce can and move it beside the cooking kitchenpot with sturdy handles",
+    "Use the right arm to pick the sauce can with white details, position it near the kitchenpot for boiling food",
+    "Pick up the smooth sauce can using the right arm, transfer it beside the black metal kitchenpot",
+    "Place the sauce can with flat bottom next to the black kitchenpot with flat lid",
+    "Lift the red sauce can and place it next to the black kitchenpot with flat lid",
+    "Set the smooth sauce can near the black kitchenpot with silver and black handles after picking it up",
+    "With the right arm, grab the red sauce can for holding condiments and move to the kitchenpot for boiling food",
+    "Pick the red sauce can up with the right arm then place near the black kitchenpot with silver handle bars",
+    "Pick the red cylindrical sauce can up and move it next to the black kitchenpot with plastic lid handle",
+    "Use the right arm to lift the medium-sized red sauce can and place it near the kitchenpot with metallic round lid",
+    "Use the right arm to grab the smooth sauce can and move it next to the cooking kitchenpot with sturdy handles",
+    "Grab the sauce can with white details with the right arm and position it beside the black cooking pot with silver handles",
+    "Lift the medium-sized red sauce can and move it near the black metal kitchenpot",
+    "Grab the red sauce can, shift it, and place it close to the black kitchenpot with plastic lid handle",
+    "Lift the sauce can with flat bottom using the right arm and position it by the cooking kitchenpot with sturdy handles",
+    "Grab the red sauce can with the right arm and move it close to the black kitchenpot with silver handle bars",
+    "Move the red sauce can to be next to the black kitchenpot",
+    "Lift the smooth sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Move the sauce can with flat bottom to the black kitchenpot with round lid with the right arm",
+    "Lift the medium-sized red sauce can and set it next to the cooking kitchenpot with sturdy handles",
+    "Use the right arm to move the red plastic sauce can beside the kitchenpot with metallic round lid",
+    "Move the red sauce can from its spot to near the black kitchenpot with plastic lid handle",
+    "Pick up the sauce can with flat top and put it beside the kitchenpot with metallic round lid",
+    "Take the red plastic sauce can with the right arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Pick the sauce can with flat top up and carefully position it beside the cooking kitchenpot with sturdy handles",
+    "Grab the sauce can with flat bottom and move it close to the medium kitchenpot with smooth surface",
+    "Lift the cylindrical sauce can, then place it next to the cooking kitchenpot with sturdy handles",
+    "Using the right arm, lift the red can with gold patterns and place it by the black kitchenpot with round lid",
+    "Grab the sauce can with white details with the right arm and set it near the black kitchenpot with silver handle bars",
+    "Take the red plastic sauce can using the right arm, set it next to the black kitchenpot",
+    "Use the right arm to take the sauce can with white details to the black kitchenpot with flat lid",
+    "Grab the red and gold sauce can, move it, and place by the black kitchenpot with plastic lid handle",
+    "Use the right arm to pick the red sauce can for holding condiments up and set it beside the black kitchenpot with silver and black handles",
+    "Pick up the red cylindrical sauce can with the right arm and set by the cooking kitchenpot with sturdy handles",
+    "Set the sauce can with flat bottom right next to the medium kitchenpot with smooth surface",
+    "Lift the red and gold sauce can using the right arm and drop it beside the cooking kitchenpot with sturdy handles"
+  ],
+  "unseen": [
+    "Grab the medium sauce can and place it beside the round black kitchenpot",
+    "Use the right arm to pick up the medium sauce can and move it beside the shiny black kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the medium sauce can and set it beside the shiny black kitchenpot",
+    "Grab the medium sauce can and place it near the round black kitchenpot",
+    "Grab the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the medium sauce can and place it by the round black kitchenpot",
+    "Grab the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with red lid and move it near the shiny black kitchenpot",
+    "Lift the medium sauce can and set it beside the round black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with red lid and place it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it beside the round black kitchenpot",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with red lid and place it by the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with red lid and place it near the round black kitchenpot",
+    "Grab the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with red lid, move it near the round black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the round black kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the round black kitchenpot",
+    "Grab the medium sauce can and move it near the shiny black kitchenpot",
+    "Pick up the medium sauce can and move it near the shiny black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the round black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the round black kitchenpot",
+    "Grab the medium sauce can and place it near the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with red lid, move it near the shiny black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can and move it beside the round black kitchenpot",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the shiny black kitchenpot",
+    "Grab the medium sauce can and move it near the round black kitchenpot",
+    "Pick up the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the round black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with red lid and place it by the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the shiny black kitchenpot",
+    "Lift the medium sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the round black kitchenpot",
+    "Grab the sauce can with red lid and place it near the round black kitchenpot",
+    "Grab the sauce can with red lid and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid, move it near the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and place it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the sauce can with red lid and set it beside the round black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Grab the medium sauce can and place it near the round black kitchenpot",
+    "Grab the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can and place it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with red lid and move it near the round black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the round black kitchenpot",
+    "Grab the sauce can with red lid and place it near the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and place it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with red lid and place it by the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the smooth cylindrical sauce can and set it beside the round black kitchenpot",
+    "Pick up the medium sauce can and set it beside the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the round black kitchenpot",
+    "Grab the smooth cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid, move it near the round black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the medium sauce can and move it beside the shiny black kitchenpot",
+    "Use the right arm to grab the medium sauce can and place it by the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the round black kitchenpot",
+    "Pick up the medium sauce can and move it near the shiny black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the round black kitchenpot",
+    "Pick up the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and place it near the round black kitchenpot",
+    "Grab the medium sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the round black kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode15.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..7555fe5559100365ddb11f8edc5ab20ea16e9002
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the metal can with plastic lid beside the black kitchenpot with plastic lid handle after lifting it",
+    "Take the brown top white sauce can to the black cooking pot with silver handles using the left arm",
+    "Use the left arm to grab the metal can with plastic lid and transfer it near the black kitchenpot with silver handle bars",
+    "Grab the cylindrical container for sauce with the left arm and move it close to the black kitchenpot with flat lid",
+    "Lift the metal can with plastic lid and set it next to the black kitchenpot with silver and black handles",
+    "Set the white label brown lidded can right next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to grab the hand-held sauce container and move it next to the black kitchenpot with silver handle bars",
+    "Pick up the smooth metal sauce can white with the left arm and set by the kitchenpot for boiling food",
+    "Grab the metal can with plastic lid, move it to the kitchenpot for boiling food's side",
+    "Grab the brown-lid sauce can with the left arm and position it beside the black cooking pot with silver handles",
+    "Lift the white cylindrical sauce holder and place it next to the black kitchenpot with round lid",
+    "Lift the white sauce can with label and set it next to the black cooking pot with silver handles",
+    "Pick the white cylindrical sauce holder up with the left arm then place near the kitchenpot with metallic round lid",
+    "Use the left arm to grab the white sauce can brown top, move it beside the medium kitchenpot with smooth surface",
+    "Lift the cylindrical can brown round top, then place it next to the kitchenpot for boiling food",
+    "Pick the cylindrical container for sauce up and move it next to the black kitchenpot",
+    "Lift the cylindrical can brown round top and move it near the black metal kitchenpot",
+    "Bring the brown top white sauce can over and set it near the black cooking pot with silver handles",
+    "Move the metal can with plastic lid to be next to the black kitchenpot with round lid",
+    "Pick up the white label brown lidded can and put it beside the black kitchenpot with plastic lid handle",
+    "Use the left arm to take the brown cap sauce storage can to the black kitchenpot with flat lid",
+    "Pick up the metal can with plastic lid using the left arm, transfer it beside the kitchenpot with metallic round lid",
+    "Use the left arm to move the metal can with plastic lid beside the black kitchenpot",
+    "Pick the hand-held sauce container and position it next to the black kitchenpot with plastic lid handle",
+    "Move the cylindrical container for sauce from its spot to near the black kitchenpot with round lid",
+    "Lift the brown-lid sauce can using the left arm and drop it beside the black kitchenpot with plastic lid handle",
+    "Take the white label brown lidded can with the left arm, bring it, and set next to the medium kitchenpot with smooth surface",
+    "Grab the white label brown lidded can and move it close to the black kitchenpot with round lid",
+    "Move the brown cap sauce storage can to the black kitchenpot with silver handle bars with the left arm",
+    "Lift the white label brown lidded can and set it beside the black kitchenpot",
+    "With the left arm, grab the white cylindrical sauce holder and move to the kitchenpot with metallic round lid",
+    "Grab the brown-lid sauce can, shift it, and place it close to the black metal kitchenpot",
+    "Take the brown-lid sauce can with the left arm, place it near the black kitchenpot with flat lid",
+    "Place the smooth metal sauce can white next to the black kitchenpot with plastic lid handle",
+    "Pick the brown-lid sauce can with the left arm and relocate it near the black kitchenpot",
+    "Place the white sauce can brown top beside the medium kitchenpot with smooth surface after picking it up",
+    "Lift the cylindrical can brown round top using the left arm and position it by the black kitchenpot with plastic lid handle",
+    "Use the left arm to pick the white cylindrical sauce holder up and set it beside the cooking kitchenpot with sturdy handles",
+    "Grab the cylindrical container for sauce with the left arm and set it near the black cooking pot with silver handles",
+    "Use the left arm to lift the white sauce can brown top and place it near the black kitchenpot with plastic lid handle",
+    "Use the left arm to pick the cylindrical can brown round top, position it near the medium kitchenpot with smooth surface",
+    "Grab the hand-held sauce container, move it, and place by the kitchenpot for boiling food",
+    "Lift the smooth metal sauce can white, place it by the black metal kitchenpot",
+    "Pick the white sauce can with label up and carefully position it beside the black kitchenpot with silver handle bars",
+    "Use the left arm to lift the white cylindrical sauce holder and place it next to the cooking kitchenpot with sturdy handles",
+    "Using the left arm, lift the white cylindrical sauce holder and place it by the black kitchenpot with flat lid",
+    "Set the cylindrical can brown round top near the black kitchenpot with plastic lid handle after picking it up",
+    "Use the left arm to lift the brown top white sauce can, then move it next to the medium kitchenpot with smooth surface",
+    "Take the brown-lid sauce can using the left arm, set it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the white sauce can brown top and move it beside the medium kitchenpot with smooth surface",
+    "Move the cylindrical can brown round top beside the kitchenpot for boiling food after lifting it",
+    "Take the white sauce can brown top to the black kitchenpot with plastic lid handle using the left arm",
+    "Use the left arm to grab the metal can with plastic lid and transfer it near the black kitchenpot",
+    "Grab the white label brown lidded can with the left arm and move it close to the kitchenpot for boiling food",
+    "Lift the white cylindrical sauce holder and set it next to the black kitchenpot",
+    "Set the white cylindrical sauce holder right next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to grab the brown-lid sauce can and move it next to the black kitchenpot with round lid",
+    "Pick up the white sauce can with label with the left arm and set by the black kitchenpot with silver handle bars",
+    "Grab the cylindrical container for sauce, move it to the cooking kitchenpot with sturdy handles's side",
+    "Grab the brown top white sauce can with the left arm and position it beside the kitchenpot for boiling food",
+    "Lift the brown top white sauce can and place it next to the medium kitchenpot with smooth surface",
+    "Lift the white cylindrical sauce holder and set it next to the black cooking pot with silver handles",
+    "Pick the hand-held sauce container up with the left arm then place near the medium kitchenpot with smooth surface",
+    "Use the left arm to grab the smooth metal sauce can white, move it beside the medium kitchenpot with smooth surface",
+    "Lift the white sauce can with label, then place it next to the kitchenpot with metallic round lid",
+    "Pick the white sauce can with label up and move it next to the black kitchenpot",
+    "Lift the white cylindrical sauce holder and move it near the medium kitchenpot with smooth surface",
+    "Bring the white label brown lidded can over and set it near the black kitchenpot with silver and black handles",
+    "Move the white cylindrical sauce holder to be next to the black kitchenpot with silver handle bars",
+    "Pick up the metal can with plastic lid and put it beside the cooking kitchenpot with sturdy handles",
+    "Use the left arm to take the white sauce can with label to the cooking kitchenpot with sturdy handles",
+    "Pick up the white label brown lidded can using the left arm, transfer it beside the black kitchenpot with flat lid",
+    "Use the left arm to move the white cylindrical sauce holder beside the black cooking pot with silver handles",
+    "Pick the hand-held sauce container and position it next to the medium kitchenpot with smooth surface",
+    "Move the cylindrical can brown round top from its spot to near the medium kitchenpot with smooth surface",
+    "Lift the white sauce can with label using the left arm and drop it beside the black cooking pot with silver handles",
+    "Take the white sauce can with label with the left arm, bring it, and set next to the kitchenpot with metallic round lid",
+    "Grab the white sauce can with label and move it close to the kitchenpot with metallic round lid",
+    "Move the cylindrical container for sauce to the black kitchenpot with silver handle bars with the left arm",
+    "Lift the hand-held sauce container and set it beside the black kitchenpot with round lid",
+    "With the left arm, grab the brown top white sauce can and move to the medium kitchenpot with smooth surface",
+    "Grab the hand-held sauce container, shift it, and place it close to the kitchenpot for boiling food",
+    "Take the brown-lid sauce can with the left arm, place it near the black kitchenpot with round lid",
+    "Place the white sauce can brown top next to the medium kitchenpot with smooth surface",
+    "Pick the brown-lid sauce can with the left arm and relocate it near the black kitchenpot with flat lid",
+    "Place the brown top white sauce can beside the black cooking pot with silver handles after picking it up",
+    "Lift the smooth metal sauce can white using the left arm and position it by the black kitchenpot with silver and black handles",
+    "Use the left arm to pick the white label brown lidded can up and set it beside the black kitchenpot",
+    "Grab the cylindrical can brown round top with the left arm and set it near the black kitchenpot",
+    "Use the left arm to lift the metal can with plastic lid and place it near the medium kitchenpot with smooth surface",
+    "Use the left arm to pick the white label brown lidded can, position it near the black cooking pot with silver handles",
+    "Grab the cylindrical container for sauce, move it, and place by the black kitchenpot",
+    "Lift the white label brown lidded can, place it by the kitchenpot with metallic round lid",
+    "Pick the brown-lid sauce can up and carefully position it beside the black kitchenpot with plastic lid handle",
+    "Use the left arm to lift the white label brown lidded can and place it next to the black kitchenpot with plastic lid handle",
+    "Using the left arm, lift the cylindrical container for sauce and place it by the black metal kitchenpot",
+    "Set the brown top white sauce can near the medium kitchenpot with smooth surface after picking it up",
+    "Use the left arm to lift the metal can with plastic lid, then move it next to the black kitchenpot with flat lid",
+    "Take the white sauce can with label using the left arm, set it next to the medium kitchenpot with smooth surface",
+    "Use the left arm to grab the smooth metal sauce can white and move it beside the black kitchenpot with silver and black handles"
+  ],
+  "unseen": [
+    "Grab the medium-size cylindrical sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the sauce can, move it near the round black kitchenpot",
+    "Grab the sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Grab the sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the shiny black kitchenpot",
+    "Lift the sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the round black kitchenpot",
+    "Grab the medium sauce can with white label and move it near the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the round black kitchenpot",
+    "Use the left arm to pick up the sauce can, move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the round black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the round black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the shiny black kitchenpot",
+    "Lift the sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the round black kitchenpot",
+    "Grab the sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the sauce can and move it beside the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can and move it near the shiny black kitchenpot",
+    "Lift the sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Grab the sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Pick up the sauce can and move it near the shiny black kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the shiny black kitchenpot",
+    "Grab the sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the sauce can and set it beside the round black kitchenpot",
+    "Pick up the sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can and move it near the shiny black kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the round black kitchenpot",
+    "Grab the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the sauce can, move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the medium-size cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Lift the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the shiny black kitchenpot",
+    "Grab the sauce can and move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the round black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the shiny black kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round black kitchenpot",
+    "Grab the sauce can and move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the round black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Grab the sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Lift the medium sauce can with white label and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the medium black kitchenpot with lid",
+    "Grab the medium-size cylindrical sauce can and move it near the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the medium black kitchenpot with lid",
+    "Grab the sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Lift the sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the round black kitchenpot",
+    "Grab the sauce can and move it near the shiny black kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode16.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..635e0d2f0f6aeb1393f8127bc062b47231ecef29
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact sauce can with plastic lid using the left arm and drop it beside the round teal cooking pot with matte texture",
+    "Pick up the compact sauce can with plastic lid using the left arm, transfer it beside the round kitchenpot with two side grips",
+    "Pick up the cylindrical sauce can with the left arm and set by the medium-sized teal blue cooking pot",
+    "Lift the red can with orange label and set it next to the round kitchenpot with two side grips",
+    "Grab the cylindrical sauce can with the left arm and set it near the round kitchenpot with two side grips",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it near the round kitchenpot with two side grips",
+    "Grab the smooth sauce can with the left arm and position it beside the kitchenpot with flat lid and knob",
+    "Lift the smooth sauce can and move it near the round kitchenpot with two side grips",
+    "Move the red can with orange label from its spot to near the medium-sized teal blue cooking pot",
+    "Move the smooth sauce can to be next to the round kitchenpot with two side grips",
+    "Take the cylindrical sauce can with the left arm, place it near the kitchenpot with two sturdy blue handles",
+    "Set the compact sauce can with plastic lid near the blue kitchenpot with smooth matte sides after picking it up",
+    "Set the small cylindrical sauce can right next to the round kitchenpot with two side grips",
+    "Lift the sauce can with printed design, place it by the round teal cooking pot with matte texture",
+    "Lift the cylindrical sauce can and set it next to the teal pot for boiling and cooking",
+    "Lift the small metal sauce container and set it beside the round kitchenpot with two side grips",
+    "Use the left arm to pick the compact sauce can with plastic lid, position it near the teal pot for boiling and cooking",
+    "Use the left arm to move the sauce can with rounded top cap beside the cooking pot with two blue handles",
+    "Move the sauce can with rounded top cap to the blue kitchenpot with smooth matte sides with the left arm",
+    "Pick the compact sauce can with plastic lid and position it next to the medium-sized teal blue cooking pot",
+    "Pick the cylindrical sauce can up and carefully position it beside the blue cylinder pot with smooth lid",
+    "Grab the small metal sauce container with the left arm and move it close to the kitchenpot with two sturdy blue handles",
+    "Take the metal body sauce can using the left arm, set it next to the teal pot for boiling and cooking",
+    "Pick up the red and orange sauce can and put it beside the cooking pot with two blue handles",
+    "Lift the red and orange sauce can and place it next to the round kitchenpot with two side grips",
+    "With the left arm, grab the smooth sauce can and move to the medium-sized teal blue cooking pot",
+    "Using the left arm, lift the red and orange sauce can and place it by the blue kitchenpot with smooth matte sides",
+    "Lift the smooth sauce can using the left arm and position it by the medium-sized teal blue cooking pot",
+    "Use the left arm to grab the metal body sauce can and transfer it near the blue cylinder pot with smooth lid",
+    "Pick the small metal sauce container up and move it next to the medium teal blue kitchenpot with handles",
+    "Use the left arm to grab the metal body sauce can, move it beside the cooking pot with two blue handles",
+    "Place the cylindrical sauce can beside the medium teal-colored pot with flat lid after picking it up",
+    "Grab the cylindrical sauce can, move it, and place by the round teal cooking pot with matte texture",
+    "Lift the sauce can with red lid, then place it next to the teal pot for boiling and cooking",
+    "Use the left arm to pick the sauce can with rounded top cap up and set it beside the cooking pot with two blue handles",
+    "Pick the sauce can with printed design with the left arm and relocate it near the kitchenpot with two sturdy blue handles",
+    "Use the left arm to grab the smooth sauce can and move it beside the cooking pot with two blue handles",
+    "Grab the sauce can with red lid, shift it, and place it close to the medium-sized teal blue cooking pot",
+    "Take the red can with orange label with the left arm, bring it, and set next to the medium-sized teal blue cooking pot",
+    "Use the left arm to lift the sauce can with printed design and place it next to the medium teal-colored pot with flat lid",
+    "Use the left arm to take the small metal sauce container to the smooth teal kitchenpot for stovetop use",
+    "Move the red and orange sauce can beside the cooking pot with two blue handles after lifting it",
+    "Grab the compact sauce can with plastic lid and move it close to the medium teal-colored pot with flat lid",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the medium-sized teal blue cooking pot",
+    "Use the left arm to grab the metal body sauce can and move it next to the medium teal blue kitchenpot with handles",
+    "Place the red can with orange label next to the teal pot for boiling and cooking",
+    "Grab the sauce can with red lid, move it to the medium-sized teal blue cooking pot's side",
+    "Bring the metal body sauce can over and set it near the kitchenpot with two sturdy blue handles",
+    "Take the sauce can with rounded top cap to the teal pot for boiling and cooking using the left arm",
+    "Pick the sauce can with red lid up with the left arm then place near the blue kitchenpot with smooth matte sides",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the teal pot for boiling and cooking",
+    "Pick up the sauce can with rounded top cap using the left arm, transfer it beside the round teal cooking pot with matte texture",
+    "Pick up the small metal sauce container with the left arm and set by the smooth teal kitchenpot for stovetop use",
+    "Lift the sauce can with printed design and set it next to the kitchenpot with two sturdy blue handles",
+    "Grab the red and orange sauce can with the left arm and set it near the kitchenpot with flat lid and knob",
+    "Use the left arm to lift the smooth sauce can and place it near the kitchenpot with two sturdy blue handles",
+    "Grab the small metal sauce container with the left arm and position it beside the medium teal-colored pot with flat lid",
+    "Lift the sturdy sauce can with glossy finish and move it near the medium-sized teal blue cooking pot",
+    "Move the sturdy sauce can with glossy finish from its spot to near the medium teal-colored pot with flat lid",
+    "Move the sauce can with rounded top cap to be next to the round kitchenpot with two side grips",
+    "Take the sauce can with rounded top cap with the left arm, place it near the medium-sized teal blue cooking pot",
+    "Set the cylindrical sauce can near the medium teal-colored pot with flat lid after picking it up",
+    "Set the red and orange sauce can right next to the medium teal blue kitchenpot with handles",
+    "Lift the small metal sauce container, place it by the medium-sized teal blue cooking pot",
+    "Lift the small metal sauce container and set it next to the blue cylinder pot with smooth lid",
+    "Lift the compact sauce can with plastic lid and set it beside the blue kitchenpot with smooth matte sides",
+    "Use the left arm to pick the cylindrical sauce can, position it near the blue kitchenpot with smooth matte sides",
+    "Use the left arm to move the small cylindrical sauce can beside the blue kitchenpot with smooth matte sides",
+    "Move the sauce can with red lid to the cooking pot with two blue handles with the left arm",
+    "Pick the red can with orange label and position it next to the kitchenpot with two sturdy blue handles",
+    "Pick the smooth sauce can up and carefully position it beside the medium teal-colored pot with flat lid",
+    "Grab the small metal sauce container with the left arm and move it close to the round kitchenpot with two side grips",
+    "Take the red can with orange label using the left arm, set it next to the kitchenpot with two sturdy blue handles",
+    "Pick up the sauce can with red lid and put it beside the blue kitchenpot with smooth matte sides",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot with two sturdy blue handles",
+    "With the left arm, grab the sauce can with red lid and move to the round teal cooking pot with matte texture",
+    "Using the left arm, lift the sauce can with printed design and place it by the blue kitchenpot with smooth matte sides",
+    "Lift the compact sauce can with plastic lid using the left arm and position it by the blue cylinder pot with smooth lid",
+    "Use the left arm to grab the sauce can with printed design and transfer it near the smooth teal kitchenpot for stovetop use",
+    "Pick the sauce can with printed design up and move it next to the blue kitchenpot with smooth matte sides",
+    "Use the left arm to grab the smooth sauce can, move it beside the cooking pot with two blue handles",
+    "Place the cylindrical sauce can beside the round kitchenpot with two side grips after picking it up",
+    "Grab the metal body sauce can, move it, and place by the blue kitchenpot with smooth matte sides",
+    "Lift the metal body sauce can, then place it next to the medium-sized teal blue cooking pot",
+    "Use the left arm to pick the red can with orange label up and set it beside the blue kitchenpot with smooth matte sides",
+    "Pick the small cylindrical sauce can with the left arm and relocate it near the kitchenpot with flat lid and knob",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot with two sturdy blue handles",
+    "Grab the sauce can with printed design, shift it, and place it close to the medium teal blue kitchenpot with handles",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the cooking pot with two blue handles",
+    "Use the left arm to lift the red can with orange label and place it next to the medium teal-colored pot with flat lid",
+    "Use the left arm to take the compact sauce can with plastic lid to the medium teal blue kitchenpot with handles",
+    "Move the compact sauce can with plastic lid beside the round teal cooking pot with matte texture after lifting it",
+    "Grab the compact sauce can with plastic lid and move it close to the cooking pot with two blue handles",
+    "Use the left arm to lift the compact sauce can with plastic lid, then move it next to the medium teal-colored pot with flat lid",
+    "Use the left arm to grab the metal body sauce can and move it next to the kitchenpot with flat lid and knob",
+    "Place the sauce can with printed design next to the smooth teal kitchenpot for stovetop use",
+    "Grab the smooth sauce can, move it to the teal pot for boiling and cooking's side",
+    "Bring the sauce can with printed design over and set it near the kitchenpot with flat lid and knob",
+    "Take the red can with orange label to the blue kitchenpot with smooth matte sides using the left arm",
+    "Pick the sauce can with red lid up with the left arm then place near the smooth teal kitchenpot for stovetop use"
+  ],
+  "unseen": [
+    "Pick up the red sauce can and move it near the teal blue cooking pot",
+    "Grab the red sauce can and place it beside the blue kitchenpot",
+    "Use the left arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the red sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the red sauce can and place it by the blue kitchenpot",
+    "Grab the red sauce can and move it near the blue kitchenpot",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the red can with white text and set it beside the blue kitchenpot",
+    "Pick up the red can with white text and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the teal blue cooking pot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it near the teal blue cooking pot",
+    "Lift the red can with white text and set it beside the blue kitchenpot",
+    "Use the left arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Grab the red can with white text and move it near the blue kitchenpot",
+    "Grab the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the blue kitchenpot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and move it near the teal blue cooking pot",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red can with white text, move it near the blue kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Grab the red can with white text and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the teal blue cooking pot",
+    "Grab the red sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it near the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the red sauce can and place it by the blue kitchenpot",
+    "Grab the red sauce can and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the blue pot with cylindrical body and lid"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode17.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..de75eb059c4545523a55bd227c9f89f122f85bbd
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the smooth cylindrical sauce can next to the kitchenpot with two sturdy blue handles",
+    "Bring the medium sauce can over and set it near the kitchenpot with flat lid and knob",
+    "Lift the metal sauce can and place it next to the blue cylinder pot with smooth lid",
+    "Pick the sauce can with brown lid up with the right arm then place near the round teal cooking pot with matte texture",
+    "Lift the yellow label sauce can using the right arm and drop it beside the medium teal blue kitchenpot with handles",
+    "Grab the yellow and brown sauce can, move it to the round kitchenpot with two side grips's side",
+    "With the right arm, grab the cylindrical sauce can and move to the kitchenpot with flat lid and knob",
+    "Use the right arm to pick the smooth cylindrical sauce can up and set it beside the blue kitchenpot with smooth matte sides",
+    "Lift the cylindrical sauce can, then place it next to the round kitchenpot with two side grips",
+    "Move the metal sauce can to the blue kitchenpot with smooth matte sides with the right arm",
+    "Using the right arm, lift the sauce can with ingredient information and place it by the medium teal blue kitchenpot with handles",
+    "Use the right arm to lift the sauce can with ingredient information and place it near the cooking pot with two blue handles",
+    "Pick the sauce can with ingredient information and position it next to the medium teal blue kitchenpot with handles",
+    "Use the right arm to grab the yellow label sauce can, move it beside the round kitchenpot with two side grips",
+    "Take the brown top sauce can with the right arm, place it near the kitchenpot with two sturdy blue handles",
+    "Lift the brown top sauce can and set it next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to lift the sauce can with ingredient information, then move it next to the round teal cooking pot with matte texture",
+    "Take the medium sauce can to the kitchenpot with two sturdy blue handles using the right arm",
+    "Grab the brown sauce can with the right arm and set it near the kitchenpot with flat lid and knob",
+    "Set the yellow label sauce can near the smooth teal kitchenpot for stovetop use after picking it up",
+    "Use the right arm to grab the printed label sauce can and transfer it near the blue kitchenpot with smooth matte sides",
+    "Move the brown sauce can to be next to the cooking pot with two blue handles",
+    "Grab the metal sauce can with the right arm and move it close to the smooth teal kitchenpot for stovetop use",
+    "Lift the printed label sauce can and move it near the smooth teal kitchenpot for stovetop use",
+    "Pick the brown sauce can with the right arm and relocate it near the teal pot for boiling and cooking",
+    "Move the brown top sauce can beside the teal pot for boiling and cooking after lifting it",
+    "Use the right arm to lift the metal sauce can and place it next to the blue kitchenpot with smooth matte sides",
+    "Use the right arm to pick the sauce can for condiments, position it near the kitchenpot with two sturdy blue handles",
+    "Grab the medium sauce can and move it close to the kitchenpot with flat lid and knob",
+    "Pick up the sauce can with brown lid using the right arm, transfer it beside the round teal cooking pot with matte texture",
+    "Take the yellow and brown sauce can with the right arm, bring it, and set next to the smooth teal kitchenpot for stovetop use",
+    "Move the yellow label sauce can from its spot to near the blue kitchenpot with smooth matte sides",
+    "Lift the brown sauce can and set it next to the medium teal blue kitchenpot with handles",
+    "Lift the medium sauce can using the right arm and position it by the blue cylinder pot with smooth lid",
+    "Lift the smooth cylindrical sauce can and set it beside the teal pot for boiling and cooking",
+    "Grab the metal sauce can, shift it, and place it close to the blue cylinder pot with smooth lid",
+    "Use the right arm to move the yellow and brown sauce can beside the smooth teal kitchenpot for stovetop use",
+    "Take the yellow and brown sauce can using the right arm, set it next to the round teal cooking pot with matte texture",
+    "Pick up the sauce can with ingredient information and put it beside the medium-sized teal blue cooking pot",
+    "Pick the brown sauce can up and carefully position it beside the medium teal blue kitchenpot with handles",
+    "Grab the smooth cylindrical sauce can with the right arm and position it beside the smooth teal kitchenpot for stovetop use",
+    "Pick the cylindrical sauce can up and move it next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the yellow label sauce can and move it beside the round kitchenpot with two side grips",
+    "Lift the cylindrical sauce can, place it by the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to take the printed label sauce can to the round teal cooking pot with matte texture",
+    "Set the sauce can for condiments right next to the kitchenpot with flat lid and knob",
+    "Pick up the smooth cylindrical sauce can with the right arm and set by the cooking pot with two blue handles",
+    "Use the right arm to grab the smooth cylindrical sauce can and move it next to the smooth teal kitchenpot for stovetop use",
+    "Grab the smooth cylindrical sauce can, move it, and place by the kitchenpot with two sturdy blue handles",
+    "Place the yellow label sauce can beside the medium teal-colored pot with flat lid after picking it up",
+    "Place the medium sauce can next to the kitchenpot with two sturdy blue handles",
+    "Bring the yellow label sauce can over and set it near the blue cylinder pot with smooth lid",
+    "Lift the sauce can for condiments and place it next to the smooth teal kitchenpot for stovetop use",
+    "Pick the printed label sauce can up with the right arm then place near the smooth teal kitchenpot for stovetop use",
+    "Lift the brown sauce can using the right arm and drop it beside the medium teal-colored pot with flat lid",
+    "Grab the yellow and brown sauce can, move it to the medium-sized teal blue cooking pot's side",
+    "With the right arm, grab the cylindrical sauce can and move to the medium teal blue kitchenpot with handles",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the teal pot for boiling and cooking",
+    "Lift the brown sauce can, then place it next to the cooking pot with two blue handles",
+    "Move the brown sauce can to the teal pot for boiling and cooking with the right arm",
+    "Using the right arm, lift the printed label sauce can and place it by the teal pot for boiling and cooking",
+    "Use the right arm to lift the yellow and brown sauce can and place it near the blue kitchenpot with smooth matte sides",
+    "Pick the printed label sauce can and position it next to the medium teal blue kitchenpot with handles",
+    "Use the right arm to grab the brown top sauce can, move it beside the blue cylinder pot with smooth lid",
+    "Take the sauce can with ingredient information with the right arm, place it near the round kitchenpot with two side grips",
+    "Lift the brown top sauce can and set it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to lift the sauce can with brown lid, then move it next to the blue cylinder pot with smooth lid",
+    "Take the cylindrical sauce can to the medium-sized teal blue cooking pot using the right arm",
+    "Grab the smooth cylindrical sauce can with the right arm and set it near the teal pot for boiling and cooking",
+    "Set the sauce can with ingredient information near the kitchenpot with flat lid and knob after picking it up",
+    "Use the right arm to grab the medium sauce can and transfer it near the blue kitchenpot with smooth matte sides",
+    "Move the sauce can for condiments to be next to the kitchenpot with flat lid and knob",
+    "Grab the smooth cylindrical sauce can with the right arm and move it close to the medium-sized teal blue cooking pot",
+    "Lift the yellow and brown sauce can and move it near the blue cylinder pot with smooth lid",
+    "Pick the brown sauce can with the right arm and relocate it near the kitchenpot with two sturdy blue handles",
+    "Move the medium sauce can beside the kitchenpot with flat lid and knob after lifting it",
+    "Use the right arm to lift the metal sauce can and place it next to the round teal cooking pot with matte texture",
+    "Use the right arm to pick the metal sauce can, position it near the medium teal blue kitchenpot with handles",
+    "Grab the yellow label sauce can and move it close to the blue kitchenpot with smooth matte sides",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the kitchenpot with two sturdy blue handles",
+    "Take the smooth cylindrical sauce can with the right arm, bring it, and set next to the kitchenpot with flat lid and knob",
+    "Move the sauce can with brown lid from its spot to near the teal pot for boiling and cooking",
+    "Lift the printed label sauce can and set it next to the medium-sized teal blue cooking pot",
+    "Lift the cylindrical sauce can using the right arm and position it by the kitchenpot with flat lid and knob",
+    "Lift the smooth cylindrical sauce can and set it beside the round teal cooking pot with matte texture",
+    "Grab the yellow label sauce can, shift it, and place it close to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to move the brown sauce can beside the cooking pot with two blue handles",
+    "Take the yellow and brown sauce can using the right arm, set it next to the kitchenpot with two sturdy blue handles",
+    "Pick up the sauce can with ingredient information and put it beside the smooth teal kitchenpot for stovetop use",
+    "Pick the metal sauce can up and carefully position it beside the cooking pot with two blue handles",
+    "Grab the yellow and brown sauce can with the right arm and position it beside the medium teal blue kitchenpot with handles",
+    "Pick the smooth cylindrical sauce can up and move it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the sauce can with brown lid and move it beside the smooth teal kitchenpot for stovetop use",
+    "Lift the sauce can with ingredient information, place it by the medium-sized teal blue cooking pot",
+    "Use the right arm to take the sauce can with ingredient information to the teal pot for boiling and cooking",
+    "Set the yellow label sauce can right next to the medium teal-colored pot with flat lid",
+    "Pick up the brown top sauce can with the right arm and set by the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the printed label sauce can and move it next to the cooking pot with two blue handles",
+    "Grab the yellow and brown sauce can, move it, and place by the kitchenpot with flat lid and knob",
+    "Place the cylindrical sauce can beside the blue cylinder pot with smooth lid after picking it up"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the blue pot with cylindrical body and lid",
+    "Grab the metal body sauce can and place it near the teal blue cooking pot",
+    "Grab the metal body sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the metal body sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the metal body sauce can and set it beside the blue kitchenpot",
+    "Pick up the metal body sauce can and move it near the blue kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it beside the blue kitchenpot",
+    "Grab the metal body sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it near the blue kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the teal blue cooking pot",
+    "Pick up the metal body sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Pick up the hand-sized sauce can and move it near the blue kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the teal blue cooking pot",
+    "Grab the metal body sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with smooth surface and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the blue kitchenpot",
+    "Grab the metal body sauce can and place it near the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and move it near the blue kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Lift the metal body sauce can and set it beside the blue kitchenpot",
+    "Pick up the metal body sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the metal body sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with smooth surface and place it beside the teal blue cooking pot",
+    "Grab the hand-sized sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the metal body sauce can and place it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with smooth surface and move it near the blue kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Lift the hand-sized sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the hand-sized sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the hand-sized sauce can and place it by the teal blue cooking pot",
+    "Grab the hand-sized sauce can and place it beside the blue kitchenpot",
+    "Grab the metal body sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the blue kitchenpot",
+    "Grab the metal body sauce can and place it near the blue kitchenpot",
+    "Grab the metal body sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the metal body sauce can and set it beside the blue kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the hand-sized sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the teal blue cooking pot",
+    "Grab the hand-sized sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the metal body sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the metal body sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the blue kitchenpot",
+    "Grab the hand-sized sauce can and place it near the blue kitchenpot",
+    "Grab the metal body sauce can and move it near the teal blue cooking pot",
+    "Pick up the metal body sauce can and set it beside the teal blue cooking pot",
+    "Lift the hand-sized sauce can and set it beside the blue kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the blue kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the teal blue cooking pot",
+    "Grab the metal body sauce can and place it beside the teal blue cooking pot",
+    "Grab the hand-sized sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the blue kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it near the teal blue cooking pot",
+    "Grab the hand-sized sauce can and move it near the teal blue cooking pot",
+    "Pick up the sauce can with smooth surface and set it beside the blue kitchenpot",
+    "Lift the metal body sauce can and set it beside the teal blue cooking pot",
+    "Pick up the sauce can with smooth surface and move it near the blue kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it beside the teal blue cooking pot",
+    "Grab the sauce can with smooth surface and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the metal body sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with smooth surface and place it near the blue pot with cylindrical body and lid",
+    "Grab the metal body sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the metal body sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the metal body sauce can and set it beside the blue kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the teal blue cooking pot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it beside the blue kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the metal body sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the hand-sized sauce can and place it near the teal blue cooking pot",
+    "Grab the sauce can with smooth surface and move it near the blue pot with cylindrical body and lid",
+    "Pick up the hand-sized sauce can and set it beside the teal blue cooking pot",
+    "Lift the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Pick up the hand-sized sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the metal body sauce can and place it by the blue kitchenpot",
+    "Grab the metal body sauce can and place it beside the teal blue cooking pot",
+    "Grab the hand-sized sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the teal blue cooking pot",
+    "Grab the sauce can with smooth surface and place it near the teal blue cooking pot",
+    "Grab the metal body sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with smooth surface and set it beside the teal blue cooking pot",
+    "Lift the hand-sized sauce can and set it beside the teal blue cooking pot",
+    "Pick up the metal body sauce can and move it near the blue kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with smooth surface and place it beside the teal blue cooking pot",
+    "Grab the hand-sized sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the teal blue cooking pot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode18.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c21f6e4606c87c3cdf14c77e826e813ad3c338
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the sauce can for condiments, move it to the cooking pot with two handles's side",
+    "Use the left arm to pick the sauce can for condiments, position it near the blue kitchenpot lid with black knob",
+    "Set the yellow label sauce can near the pots for boiling and cooking after picking it up",
+    "Use the left arm to lift the smooth cylindrical sauce can and place it near the gray kitchenpot",
+    "Use the left arm to grab the yellow and brown sauce can, move it beside the metal kitchenpot with brown handles",
+    "Grab the metal sauce can with the left arm and move it close to the blue-lid kitchenpot",
+    "Lift the sauce can with ingredient information, place it by the pots for boiling and cooking",
+    "Use the left arm to grab the printed label sauce can and transfer it near the matte gray pot with durable lid",
+    "Pick up the yellow label sauce can and put it beside the blue kitchenpot lid with black knob",
+    "Lift the smooth cylindrical sauce can and move it near the blue kitchenpot lid with black knob",
+    "Use the left arm to take the brown sauce can to the blue kitchenpot lid with black knob",
+    "Pick the smooth cylindrical sauce can up and carefully position it beside the metal kitchenpot with brown handles",
+    "Take the yellow and brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to lift the yellow and brown sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to grab the brown top sauce can and move it beside the cooking pot with two handles",
+    "Pick the sauce can with ingredient information up and move it next to the matte gray pot with durable lid",
+    "Use the left arm to lift the sauce can with brown lid and place it next to the blue kitchenpot lid with black knob",
+    "Lift the brown sauce can and set it beside the round blue-lid kitchenpot for stovetop",
+    "Lift the sauce can with ingredient information and place it next to the blue kitchenpot lid with black knob",
+    "Take the brown sauce can with the left arm, place it near the round blue-lid kitchenpot for stovetop",
+    "Place the cylindrical sauce can beside the matte gray pot with durable lid after picking it up",
+    "Place the cylindrical sauce can next to the matte gray pot with durable lid",
+    "Use the left arm to pick the sauce can for condiments up and set it beside the gray cylindrical pot",
+    "Bring the smooth cylindrical sauce can over and set it near the kitchenpot with plastic knob on lid",
+    "Grab the sauce can with brown lid, move it, and place by the gray pot with blue circular lid",
+    "Grab the cylindrical sauce can and move it close to the metal kitchenpot with brown handles",
+    "Pick the sauce can with ingredient information up with the left arm then place near the kitchenpot with plastic knob on lid",
+    "Move the sauce can with ingredient information beside the pots for boiling and cooking after lifting it",
+    "Using the left arm, lift the sauce can for condiments and place it by the gray cylindrical pot",
+    "Set the yellow label sauce can right next to the gray kitchenpot",
+    "Pick up the sauce can with ingredient information with the left arm and set by the metal pot with dark handles",
+    "Move the sauce can with brown lid to be next to the metal pot with dark handles",
+    "Lift the yellow label sauce can and set it next to the gray pot with blue circular lid",
+    "Use the left arm to move the yellow and brown sauce can beside the matte gray pot with durable lid",
+    "Take the sauce can with ingredient information to the round blue-lid kitchenpot for stovetop using the left arm",
+    "With the left arm, grab the printed label sauce can and move to the metal pot with dark handles",
+    "Lift the cylindrical sauce can and set it next to the cooking pot with two handles",
+    "Lift the sauce can with ingredient information using the left arm and position it by the round blue-lid kitchenpot for stovetop",
+    "Pick the cylindrical sauce can and position it next to the matte gray pot with durable lid",
+    "Grab the brown top sauce can, shift it, and place it close to the pots for boiling and cooking",
+    "Lift the yellow and brown sauce can using the left arm and drop it beside the metal kitchenpot with brown handles",
+    "Lift the cylindrical sauce can, then place it next to the blue kitchenpot lid with black knob",
+    "Grab the brown top sauce can with the left arm and set it near the metal kitchenpot with brown handles",
+    "Move the metal sauce can to the cooking pot with two handles with the left arm",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the gray kitchenpot",
+    "Take the sauce can with ingredient information with the left arm, bring it, and set next to the pots for boiling and cooking",
+    "Grab the metal sauce can with the left arm and position it beside the kitchenpot with plastic knob on lid",
+    "Pick the printed label sauce can with the left arm and relocate it near the round blue-lid kitchenpot for stovetop",
+    "Pick up the smooth cylindrical sauce can using the left arm, transfer it beside the gray pot with blue circular lid",
+    "Grab the yellow and brown sauce can, move it to the blue-lid kitchenpot's side",
+    "Use the left arm to pick the brown top sauce can, position it near the gray cylindrical pot",
+    "Set the medium sauce can near the matte gray pot with durable lid after picking it up",
+    "Use the left arm to lift the sauce can with ingredient information and place it near the pots for boiling and cooking",
+    "Use the left arm to grab the sauce can for condiments, move it beside the kitchenpot with plastic knob on lid",
+    "Grab the cylindrical sauce can with the left arm and move it close to the matte gray pot with durable lid",
+    "Lift the sauce can for condiments, place it by the metal kitchenpot with brown handles",
+    "Use the left arm to grab the sauce can for condiments and transfer it near the gray kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the matte gray pot with durable lid",
+    "Lift the medium sauce can and move it near the metal kitchenpot with brown handles",
+    "Use the left arm to take the brown sauce can to the gray pot with blue circular lid",
+    "Pick the yellow and brown sauce can up and carefully position it beside the metal pot with dark handles",
+    "Take the brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the sauce can with brown lid from its spot to near the cooking pot with two handles",
+    "Use the left arm to lift the printed label sauce can, then move it next to the matte gray pot with durable lid",
+    "Use the left arm to grab the medium sauce can and move it beside the matte gray pot with durable lid",
+    "Pick the brown top sauce can up and move it next to the gray pot with blue circular lid",
+    "Use the left arm to lift the brown sauce can and place it next to the cooking pot with two handles",
+    "Lift the sauce can with brown lid and set it beside the cooking pot with two handles",
+    "Lift the sauce can for condiments and place it next to the metal pot with dark handles",
+    "Take the medium sauce can with the left arm, place it near the gray pot with blue circular lid",
+    "Place the medium sauce can beside the round blue-lid kitchenpot for stovetop after picking it up",
+    "Place the metal sauce can next to the gray cylindrical pot",
+    "Use the left arm to pick the medium sauce can up and set it beside the blue kitchenpot lid with black knob",
+    "Bring the brown sauce can over and set it near the gray kitchenpot",
+    "Grab the metal sauce can, move it, and place by the gray cylindrical pot",
+    "Grab the brown sauce can and move it close to the kitchenpot with plastic knob on lid",
+    "Pick the brown sauce can up with the left arm then place near the metal pot with dark handles",
+    "Move the sauce can with brown lid beside the gray pot with blue circular lid after lifting it",
+    "Using the left arm, lift the metal sauce can and place it by the pots for boiling and cooking",
+    "Set the yellow and brown sauce can right next to the blue-lid kitchenpot",
+    "Pick up the cylindrical sauce can with the left arm and set by the blue-lid kitchenpot",
+    "Move the cylindrical sauce can to be next to the kitchenpot with plastic knob on lid",
+    "Lift the brown top sauce can and set it next to the blue kitchenpot lid with black knob",
+    "Use the left arm to move the brown sauce can beside the kitchenpot with plastic knob on lid",
+    "Take the cylindrical sauce can to the round blue-lid kitchenpot for stovetop using the left arm",
+    "With the left arm, grab the brown sauce can and move to the blue kitchenpot lid with black knob",
+    "Lift the metal sauce can and set it next to the blue-lid kitchenpot",
+    "Lift the medium sauce can using the left arm and position it by the kitchenpot with plastic knob on lid",
+    "Pick the sauce can for condiments and position it next to the metal kitchenpot with brown handles",
+    "Grab the metal sauce can, shift it, and place it close to the cooking pot with two handles",
+    "Lift the metal sauce can using the left arm and drop it beside the metal pot with dark handles",
+    "Lift the brown top sauce can, then place it next to the pots for boiling and cooking",
+    "Grab the medium sauce can with the left arm and set it near the matte gray pot with durable lid",
+    "Move the metal sauce can to the metal kitchenpot with brown handles with the left arm",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it next to the gray kitchenpot",
+    "Take the brown top sauce can with the left arm, bring it, and set next to the pots for boiling and cooking",
+    "Grab the metal sauce can with the left arm and position it beside the metal pot with dark handles",
+    "Pick the metal sauce can with the left arm and relocate it near the metal pot with dark handles",
+    "Pick up the medium sauce can using the left arm, transfer it beside the cooking pot with two handles"
+  ],
+  "unseen": [
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium stove pot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium stove pot",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and move it near the medium stove pot",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot with smooth matte body",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the metal body sauce can and place it by the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can and move it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and move it near the medium stove pot",
+    "Pick up the metal body sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the round pot with blue top",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Lift the hand-sized sauce can and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and move it near the medium stove pot",
+    "Pick up the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it beside the round pot with blue top",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Pick up the metal body sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the metal body sauce can, move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it near the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Grab the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium stove pot",
+    "Pick up the metal body sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the round pot with blue top",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and move it near the medium stove pot",
+    "Pick up the metal body sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the metal body sauce can and place it by the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the round pot with blue top",
+    "Lift the sauce can with smooth surface and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode19.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aac592e1124536ef6c76a8f5e55f332fad5a643
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the round sauce can with yellow pattern, move it to the silver pot with black grips's side",
+    "Grab the sauce can with the right arm and position it beside the medium-sized pot with plastic grips",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the rounded pot with curved handles",
+    "Take the yellow brown sauce can with the right arm, bring it, and set next to the metallic pot with matte finish",
+    "Lift the white plastic lid sauce can and move it near the medium silver pot for cooking",
+    "Use the right arm to grab the white plastic lid sauce can and transfer it near the medium-sized pot with plastic grips",
+    "Take the sauce can with glossy finish to the rounded pot with curved handles using the right arm",
+    "Pick the sauce can with sealed top up with the right arm then place near the medium silver pot for cooking",
+    "Pick the rounded-edge sauce can up and move it next to the rounded silver pot with handles",
+    "Use the right arm to lift the white plastic lid sauce can and place it next to the rounded pot with curved handles",
+    "Take the plastic lid sauce can using the right arm, set it next to the cooking pot with snug-fitting lid",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the medium-sized pot with plastic grips",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the medium-sized pot with plastic grips",
+    "Place the yellow brown sauce can beside the rounded silver pot with handles after picking it up",
+    "Lift the hand-sized sauce can, then place it next to the silver pot with black grips",
+    "Use the right arm to lift the round sauce can with yellow pattern, then move it next to the medium silver pot for cooking",
+    "Take the hand-sized sauce can with the right arm, place it near the silver pot with black grips",
+    "Use the right arm to grab the plastic lid sauce can, move it beside the medium silver pot for cooking",
+    "Pick the sauce can and position it next to the metallic pot with plastic handles",
+    "Move the rounded-edge sauce can beside the rounded silver pot with handles after lifting it",
+    "Grab the sauce can with sealed top, shift it, and place it close to the medium silver pot for cooking",
+    "Use the right arm to grab the hand-sized sauce can and move it next to the medium-sized pot with plastic grips",
+    "Using the right arm, lift the round sauce can with yellow pattern and place it by the cooking pot with snug-fitting lid",
+    "Pick up the white plastic lid sauce can using the right arm, transfer it beside the metallic pot with plastic handles",
+    "Place the sauce can with sealed top next to the medium silver pot for cooking",
+    "Lift the cylindrical sauce can and set it beside the metallic pot with matte finish",
+    "Set the sauce can right next to the rounded pot with curved handles",
+    "Pick up the plastic lid sauce can with the right arm and set by the rounded silver pot with handles",
+    "Set the hand-sized sauce can near the silver kitchenpot with black grips after picking it up",
+    "Lift the round sauce can with yellow pattern and place it next to the rounded pot with curved handles",
+    "Pick the sauce can with the right arm and relocate it near the silver kitchenpot with black grips",
+    "Use the right arm to lift the yellow brown sauce can and place it near the cooking pot with snug-fitting lid",
+    "Grab the medium sauce can with white lid with the right arm and move it close to the silver pot with matching lid",
+    "Grab the yellow brown sauce can with the right arm and set it near the silver pot with matching lid",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the silver pot with matching lid",
+    "Lift the plastic lid sauce can, place it by the metallic pot with plastic handles",
+    "Bring the medium sauce can with white lid over and set it near the silver pot with black grips",
+    "Move the hand-sized sauce can to the silver kitchenpot with black grips with the right arm",
+    "Lift the medium sauce can with white lid and set it next to the silver pot with black grips",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with smooth metallic lid",
+    "With the right arm, grab the hand-sized sauce can and move to the medium-sized pot with plastic grips",
+    "Lift the sauce can with glossy finish using the right arm and position it by the silver kitchenpot with black grips",
+    "Use the right arm to take the medium sauce can with white lid to the cooking pot with snug-fitting lid",
+    "Use the right arm to move the sauce can with sealed top beside the medium-sized pot with plastic grips",
+    "Use the right arm to pick the plastic lid sauce can up and set it beside the medium-sized pot with plastic grips",
+    "Lift the white plastic lid sauce can using the right arm and drop it beside the rounded pot with curved handles",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the silver kitchenpot with black grips",
+    "Move the cylindrical sauce can from its spot to near the cooking pot with snug-fitting lid",
+    "Move the sauce can with glossy finish to be next to the silver pot with matching lid",
+    "Grab the sauce can with sealed top, move it, and place by the silver pot with matching lid",
+    "Grab the cylindrical sauce can, move it to the metallic pot with matte finish's side",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the silver kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the silver pot with black grips",
+    "Take the plastic lid sauce can with the right arm, bring it, and set next to the kitchenpot with smooth metallic lid",
+    "Lift the hand-sized sauce can and move it near the medium silver pot for cooking",
+    "Use the right arm to grab the medium sauce can with white lid and transfer it near the silver kitchenpot",
+    "Take the sauce can to the silver pot with matching lid using the right arm",
+    "Pick the brown and yellow cylindrical sauce can up with the right arm then place near the rounded pot with curved handles",
+    "Pick the medium sauce can with white lid up and move it next to the metallic pot with matte finish",
+    "Use the right arm to lift the yellow brown sauce can and place it next to the silver pot with matching lid",
+    "Take the brown and yellow cylindrical sauce can using the right arm, set it next to the silver pot with matching lid",
+    "Use the right arm to pick the sauce can, position it near the medium-sized pot with plastic grips",
+    "Use the right arm to grab the rounded-edge sauce can and move it beside the rounded pot with curved handles",
+    "Place the sauce can beside the metallic pot with matte finish after picking it up",
+    "Lift the plastic lid sauce can, then place it next to the cooking pot with snug-fitting lid",
+    "Use the right arm to lift the rounded-edge sauce can, then move it next to the rounded pot with curved handles",
+    "Take the brown and yellow cylindrical sauce can with the right arm, place it near the cooking pot with snug-fitting lid",
+    "Use the right arm to grab the hand-sized sauce can, move it beside the cooking pot with snug-fitting lid",
+    "Pick the hand-sized sauce can and position it next to the medium-sized pot with plastic grips",
+    "Move the sauce can with sealed top beside the cooking pot with snug-fitting lid after lifting it",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the rounded silver pot with handles",
+    "Use the right arm to grab the sauce can and move it next to the cooking pot with snug-fitting lid",
+    "Using the right arm, lift the white plastic lid sauce can and place it by the silver kitchenpot",
+    "Pick up the sauce can with sealed top using the right arm, transfer it beside the metallic pot with plastic handles",
+    "Place the rounded-edge sauce can next to the silver pot with matching lid",
+    "Lift the hand-sized sauce can and set it beside the silver pot with black grips",
+    "Set the white plastic lid sauce can right next to the medium-sized pot with plastic grips",
+    "Pick up the sauce can with the right arm and set by the silver kitchenpot with black grips",
+    "Set the sauce can with glossy finish near the kitchenpot with smooth metallic lid after picking it up",
+    "Lift the plastic lid sauce can and place it next to the rounded silver pot with handles",
+    "Pick the yellow brown sauce can with the right arm and relocate it near the cooking pot with snug-fitting lid",
+    "Use the right arm to lift the hand-sized sauce can and place it near the silver pot with black grips",
+    "Grab the sauce can with the right arm and move it close to the metallic pot with matte finish",
+    "Grab the rounded-edge sauce can with the right arm and set it near the kitchenpot with smooth metallic lid",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with smooth metallic lid",
+    "Lift the plastic lid sauce can, place it by the silver kitchenpot with black grips",
+    "Bring the round sauce can with yellow pattern over and set it near the silver pot with matching lid",
+    "Move the white plastic lid sauce can to the silver pot with black grips with the right arm",
+    "Lift the white plastic lid sauce can and set it next to the rounded silver pot with handles",
+    "Pick up the round sauce can with yellow pattern and put it beside the silver pot with black grips",
+    "With the right arm, grab the round sauce can with yellow pattern and move to the medium-sized pot with plastic grips",
+    "Lift the cylindrical sauce can using the right arm and position it by the silver kitchenpot",
+    "Use the right arm to take the plastic lid sauce can to the rounded pot with curved handles",
+    "Use the right arm to move the sauce can beside the medium-sized pot with plastic grips",
+    "Use the right arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium silver pot for cooking",
+    "Lift the sauce can with glossy finish using the right arm and drop it beside the rounded silver pot with handles",
+    "Pick the sauce can with glossy finish up and carefully position it beside the medium-sized pot with plastic grips",
+    "Move the yellow brown sauce can from its spot to near the medium silver pot for cooking",
+    "Move the medium sauce can with white lid to be next to the rounded silver pot with handles",
+    "Grab the hand-sized sauce can, move it, and place by the medium silver pot for cooking"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Lift the yellow label on sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the smooth sauce can and place it by the rounded cooking pot with two handles",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can, move it near the kitchenpot for stovetop boiling",
+    "Lift the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for stovetop boiling",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot for stovetop boiling",
+    "Pick up the smooth sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the rounded cooking pot with two handles",
+    "Lift the brown sauce can with top lid and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the brown sauce can with top lid and move it near the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and set it beside the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and move it near the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the kitchenpot for stovetop boiling",
+    "Lift the brown sauce can with top lid and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and place it beside the medium kitchenpot with black handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and move it near the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the rounded cooking pot with two handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the medium kitchenpot with black handles",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the rounded cooking pot with two handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can, move it near the rounded cooking pot with two handles",
+    "Lift the smooth sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and place it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for stovetop boiling",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the yellow label on sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the smooth sauce can, move it near the medium kitchenpot with black handles",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot for stovetop boiling",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot for stovetop boiling"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode2.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44e9c74308de82e3d0668e46f473aae60882034
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the brown top sauce can right next to the kitchenpot for boiling and cooking",
+    "Place the brown sauce can next to the medium-sized kitchenpot",
+    "Lift the brown sauce can, then place it next to the medium-sized kitchenpot",
+    "Pick the brown sauce can and position it next to the cooking kitchenpot with side grips",
+    "Lift the yellow and brown sauce can, place it by the cylindrical kitchenpot",
+    "Use the left arm to pick the yellow label sauce can, position it near the round kitchenpot with handles",
+    "Grab the yellow label sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Pick the cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Grab the smooth cylindrical sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Move the metal sauce can to be next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the printed label sauce can and place it next to the medium-sized kitchenpot",
+    "Move the smooth cylindrical sauce can to the smooth gray kitchenpot with the left arm",
+    "Use the left arm to grab the brown sauce can, move it beside the kitchenpot with smooth exterior",
+    "Pick the smooth cylindrical sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Pick the smooth cylindrical sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Bring the metal sauce can over and set it near the medium kitchenpot made of metal",
+    "Use the left arm to lift the yellow and brown sauce can and place it near the gray kitchenpot",
+    "Lift the smooth cylindrical sauce can using the left arm and drop it beside the smooth gray kitchenpot",
+    "Lift the sauce can with ingredient information and set it next to the gray kitchenpot",
+    "Pick up the metal sauce can and put it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the gray cylindrical metal kitchenpot",
+    "Using the left arm, lift the sauce can with ingredient information and place it by the kitchenpot with smooth exterior",
+    "With the left arm, grab the brown sauce can and move to the round kitchenpot with handles",
+    "Lift the printed label sauce can and set it next to the medium kitchenpot made of metal",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Grab the sauce can with ingredient information, move it, and place by the medium kitchenpot made of metal",
+    "Grab the sauce can with ingredient information with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the medium sauce can and move it next to the medium kitchenpot made of metal",
+    "Take the medium sauce can with the left arm, place it near the gray kitchenpot",
+    "Lift the medium sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Set the sauce can for condiments near the kitchenpot with smooth exterior after picking it up",
+    "Use the left arm to grab the sauce can for condiments and transfer it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with brown lid, shift it, and place it close to the cylindrical kitchenpot",
+    "Grab the printed label sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the sauce can with ingredient information and move it near the gray kitchenpot",
+    "Lift the yellow label sauce can and set it beside the dark gray stove kitchenpot",
+    "Grab the brown top sauce can and move it close to the dark gray stove kitchenpot",
+    "Take the smooth cylindrical sauce can to the metal kitchenpot using the left arm",
+    "Pick the brown top sauce can up and carefully position it beside the cooking kitchenpot with side grips",
+    "Use the left arm to move the metal sauce can beside the round kitchenpot with handles",
+    "Pick up the medium sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the metal sauce can from its spot to near the smooth gray kitchenpot",
+    "Pick up the medium sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to take the printed label sauce can to the gray cylindrical metal kitchenpot",
+    "Place the sauce can with ingredient information beside the round kitchenpot with handles after picking it up",
+    "Take the yellow label sauce can using the left arm, set it next to the medium kitchenpot made of metal",
+    "Move the sauce can for condiments beside the gray cylindrical metal kitchenpot after lifting it",
+    "Lift the brown sauce can and place it next to the smooth gray kitchenpot",
+    "Set the medium sauce can right next to the medium kitchenpot made of metal",
+    "Place the smooth cylindrical sauce can next to the gray cylindrical metal kitchenpot",
+    "Lift the brown top sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Pick the brown sauce can and position it next to the kitchenpot with smooth exterior",
+    "Lift the metal sauce can, place it by the kitchenpot with smooth exterior",
+    "Use the left arm to pick the smooth cylindrical sauce can, position it near the smooth gray kitchenpot",
+    "Grab the sauce can for condiments with the left arm and position it beside the medium kitchenpot made of metal",
+    "Take the sauce can for condiments with the left arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Pick the smooth cylindrical sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Grab the sauce can with ingredient information with the left arm and set it near the smooth gray kitchenpot",
+    "Move the sauce can with brown lid to be next to the medium-sized kitchenpot",
+    "Use the left arm to lift the sauce can with brown lid and place it next to the smooth gray kitchenpot",
+    "Move the cylindrical sauce can to the dark gray stove kitchenpot with the left arm",
+    "Use the left arm to grab the brown sauce can, move it beside the medium-sized kitchenpot",
+    "Pick the cylindrical sauce can up and move it next to the kitchenpot for boiling and cooking",
+    "Pick the yellow label sauce can with the left arm and relocate it near the medium kitchenpot made of metal",
+    "Bring the yellow label sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the printed label sauce can and place it near the smooth gray kitchenpot",
+    "Lift the brown top sauce can using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Lift the yellow and brown sauce can and set it next to the medium-sized kitchenpot",
+    "Pick up the printed label sauce can and put it beside the kitchenpot with smooth exterior",
+    "Use the left arm to pick the sauce can with brown lid up and set it beside the medium-sized kitchenpot",
+    "Using the left arm, lift the sauce can with brown lid and place it by the medium-sized kitchenpot",
+    "With the left arm, grab the brown sauce can and move to the round kitchenpot with handles",
+    "Lift the cylindrical sauce can and set it next to the gray kitchenpot",
+    "Use the left arm to lift the metal sauce can, then move it next to the gray kitchenpot",
+    "Use the left arm to grab the sauce can with ingredient information and move it beside the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Grab the metal sauce can with the left arm and move it close to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with brown lid and move it next to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with brown lid with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the brown top sauce can using the left arm and position it by the kitchenpot for boiling and cooking",
+    "Set the metal sauce can near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the dark gray stove kitchenpot",
+    "Grab the brown top sauce can, shift it, and place it close to the dark gray stove kitchenpot",
+    "Grab the sauce can with brown lid, move it to the cylindrical kitchenpot's side",
+    "Lift the smooth cylindrical sauce can and move it near the kitchenpot for boiling and cooking",
+    "Lift the brown sauce can and set it beside the round kitchenpot with handles",
+    "Grab the brown sauce can and move it close to the gray cylindrical metal kitchenpot",
+    "Take the sauce can with brown lid to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick the brown top sauce can up and carefully position it beside the metal kitchenpot",
+    "Use the left arm to move the smooth cylindrical sauce can beside the medium kitchenpot made of metal",
+    "Pick up the printed label sauce can with the left arm and set by the dark gray stove kitchenpot",
+    "Move the brown top sauce can from its spot to near the round kitchenpot with handles",
+    "Pick up the sauce can for condiments using the left arm, transfer it beside the cylindrical kitchenpot",
+    "Use the left arm to take the cylindrical sauce can to the gray kitchenpot",
+    "Place the sauce can with brown lid beside the cylindrical kitchenpot after picking it up",
+    "Take the smooth cylindrical sauce can using the left arm, set it next to the gray kitchenpot",
+    "Move the metal sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Lift the metal sauce can and place it next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Lift the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the hand-sized sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode3.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..1007002f66f5aeecd4f8b1e4708780f7bc5408d1
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized red sauce can, move it to the matte-finished kitchenpot's side",
+    "Lift the sauce can with flat bottom and set it next to the matte-finished kitchenpot",
+    "Take the red plastic sauce can using the right arm, set it next to the grey kitchenpot",
+    "Use the right arm to lift the smooth sauce can, then move it next to the kitchenpot with sturdy plastic body",
+    "Lift the sauce can with flat bottom and move it near the round kitchenpot",
+    "Using the right arm, lift the medium-sized red sauce can and place it by the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can with flat top and move it beside the kitchenpot with two side handles",
+    "Lift the red plastic sauce can and set it next to the grey kitchenpot",
+    "Use the right arm to grab the smooth sauce can and move it next to the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can with flat bottom, move it beside the kitchenpot with black rectangular panel",
+    "With the right arm, grab the red sauce can and move to the light grey kitchenpot with dark top",
+    "Pick up the sauce can with white details using the right arm, transfer it beside the cylindrical kitchenpot with flat edges",
+    "Take the red can with gold patterns to the grey kitchenpot using the right arm",
+    "Place the medium-sized red sauce can beside the grey kitchenpot after picking it up",
+    "Use the right arm to pick the red sauce can for holding condiments up and set it beside the kitchenpot with black rectangular panel",
+    "Lift the sauce can with flat top using the right arm and position it by the matte-finished kitchenpot",
+    "Pick the red and gold sauce can with the right arm and relocate it near the kitchenpot with black rectangular panel",
+    "Use the right arm to pick the smooth sauce can, position it near the kitchenpot with black rectangular panel",
+    "Grab the cylindrical sauce can, move it, and place by the light grey kitchenpot with dark top",
+    "Lift the sauce can with flat top and place it next to the cylindrical kitchenpot with flat edges",
+    "Use the right arm to take the red can with gold patterns to the kitchenpot with black base",
+    "Pick up the red and gold sauce can and put it beside the kitchenpot with sturdy plastic body",
+    "Move the sauce can with flat top from its spot to near the kitchenpot with black rectangular panel",
+    "Grab the red sauce can for holding condiments with the right arm and position it beside the grey kitchenpot",
+    "Grab the sauce can with flat top with the right arm and set it near the kitchenpot with black base",
+    "Use the right arm to lift the sauce can with flat top and place it next to the grey kitchenpot",
+    "Take the sauce can with flat bottom with the right arm, bring it, and set next to the matte-finished kitchenpot",
+    "Move the red can with gold patterns to be next to the matte-finished kitchenpot",
+    "Pick the red sauce can for holding condiments up with the right arm then place near the kitchenpot with sturdy plastic body",
+    "Move the red cylindrical sauce can beside the kitchenpot with sturdy plastic body after lifting it",
+    "Pick the red can with gold patterns and position it next to the smooth kitchenpot with black button",
+    "Bring the red cylindrical sauce can over and set it near the round kitchenpot",
+    "Use the right arm to grab the smooth sauce can and transfer it near the kitchenpot with sturdy plastic body",
+    "Move the red sauce can to the kitchenpot with red indicator light with the right arm",
+    "Pick up the sauce can with flat top with the right arm and set by the cylindrical kitchenpot with flat edges",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with black base",
+    "Take the sauce can with flat top with the right arm, place it near the light grey kitchenpot with dark top",
+    "Lift the red and gold sauce can using the right arm and drop it beside the kitchenpot with black rectangular panel",
+    "Grab the red sauce can, shift it, and place it close to the kitchenpot with sturdy plastic body",
+    "Set the red and gold sauce can right next to the kitchenpot with black base",
+    "Lift the medium-sized red sauce can, place it by the kitchenpot with sturdy plastic body",
+    "Pick the red sauce can up and move it next to the grey kitchenpot with dark circle inside",
+    "Set the red sauce can for holding condiments near the cylindrical kitchenpot with flat edges after picking it up",
+    "Lift the red can with gold patterns, then place it next to the kitchenpot with two side handles",
+    "Lift the red can with gold patterns and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with white details with the right arm and move it close to the matte-finished kitchenpot",
+    "Use the right arm to move the cylindrical sauce can beside the kitchenpot with black rectangular panel",
+    "Pick the sauce can with white details up and carefully position it beside the kitchenpot with black base",
+    "Use the right arm to lift the red can with gold patterns and place it near the matte-finished kitchenpot",
+    "Place the red sauce can next to the kitchenpot with red indicator light",
+    "Grab the sauce can with flat bottom, move it to the kitchenpot with black rectangular panel's side",
+    "Lift the red can with gold patterns and set it next to the matte-finished kitchenpot",
+    "Take the red and gold sauce can using the right arm, set it next to the kitchenpot with black rectangular panel",
+    "Use the right arm to lift the sauce can with flat bottom, then move it next to the kitchenpot with sturdy plastic body",
+    "Lift the cylindrical sauce can and move it near the cylindrical kitchenpot with flat edges",
+    "Using the right arm, lift the red sauce can for holding condiments and place it by the grey kitchenpot",
+    "Use the right arm to grab the red cylindrical sauce can and move it beside the grey kitchenpot with dark circle inside",
+    "Lift the red and gold sauce can and set it next to the kitchenpot with two side handles",
+    "Use the right arm to grab the red can with gold patterns and move it next to the kitchenpot with sturdy plastic body",
+    "Use the right arm to grab the red and gold sauce can, move it beside the grey kitchenpot with dark circle inside",
+    "With the right arm, grab the red sauce can and move to the round kitchenpot",
+    "Pick up the sauce can with flat bottom using the right arm, transfer it beside the kitchenpot with sturdy plastic body",
+    "Take the red sauce can for holding condiments to the kitchenpot with two side handles using the right arm",
+    "Place the cylindrical sauce can beside the kitchenpot with black rectangular panel after picking it up",
+    "Use the right arm to pick the sauce can with flat top up and set it beside the round kitchenpot",
+    "Lift the smooth sauce can using the right arm and position it by the kitchenpot with red indicator light",
+    "Pick the red can with gold patterns with the right arm and relocate it near the matte-finished kitchenpot",
+    "Use the right arm to pick the medium-sized red sauce can, position it near the grey kitchenpot with dark circle inside",
+    "Grab the red sauce can, move it, and place by the kitchenpot with black base",
+    "Lift the red can with gold patterns and place it next to the light grey kitchenpot with dark top",
+    "Use the right arm to take the red can with gold patterns to the kitchenpot with two side handles",
+    "Pick up the red sauce can for holding condiments and put it beside the grey kitchenpot",
+    "Move the sauce can with flat bottom from its spot to near the matte-finished kitchenpot",
+    "Grab the red sauce can with the right arm and position it beside the matte-finished kitchenpot",
+    "Grab the red sauce can for holding condiments with the right arm and set it near the kitchenpot with two side handles",
+    "Use the right arm to lift the red sauce can for holding condiments and place it next to the matte-finished kitchenpot",
+    "Take the red and gold sauce can with the right arm, bring it, and set next to the round kitchenpot",
+    "Move the sauce can with white details to be next to the kitchenpot with two side handles",
+    "Pick the sauce can with white details up with the right arm then place near the kitchenpot with red indicator light",
+    "Move the sauce can with flat bottom beside the kitchenpot with black base after lifting it",
+    "Pick the red sauce can for holding condiments and position it next to the kitchenpot with black base",
+    "Bring the smooth sauce can over and set it near the grey kitchenpot with dark circle inside",
+    "Use the right arm to grab the red sauce can and transfer it near the round kitchenpot",
+    "Move the red sauce can to the kitchenpot with black base with the right arm",
+    "Pick up the sauce can with white details with the right arm and set by the matte-finished kitchenpot",
+    "Grab the red can with gold patterns and move it close to the grey kitchenpot with dark circle inside",
+    "Take the medium-sized red sauce can with the right arm, place it near the round kitchenpot",
+    "Lift the red and gold sauce can using the right arm and drop it beside the round kitchenpot",
+    "Grab the sauce can with flat bottom, shift it, and place it close to the matte-finished kitchenpot",
+    "Set the sauce can with flat top right next to the matte-finished kitchenpot",
+    "Lift the red sauce can, place it by the light grey kitchenpot with dark top",
+    "Pick the red and gold sauce can up and move it next to the kitchenpot with black rectangular panel",
+    "Set the red cylindrical sauce can near the matte-finished kitchenpot after picking it up",
+    "Lift the smooth sauce can, then place it next to the kitchenpot with sturdy plastic body",
+    "Lift the red plastic sauce can and set it beside the round kitchenpot",
+    "Grab the red and gold sauce can with the right arm and move it close to the kitchenpot with two side handles",
+    "Use the right arm to move the red and gold sauce can beside the kitchenpot with black rectangular panel",
+    "Pick the red cylindrical sauce can up and carefully position it beside the smooth kitchenpot with black button",
+    "Use the right arm to lift the smooth sauce can and place it near the kitchenpot with red indicator light",
+    "Place the red plastic sauce can next to the kitchenpot with black rectangular panel"
+  ],
+  "unseen": [
+    "Grab the sauce can with red lid and place it near the medium kitchenpot",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the medium sauce can and place it by the medium kitchenpot",
+    "Lift the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it beside the medium kitchenpot",
+    "Pick up the sauce can with red lid and move it near the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and move it near the medium kitchenpot",
+    "Grab the medium sauce can and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid, move it near the medium kitchenpot",
+    "Grab the medium sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it beside the kitchenpot for cooking food",
+    "Pick up the medium sauce can and move it near the kitchenpot for cooking food",
+    "Grab the medium sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid, move it near the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the medium kitchenpot",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the medium sauce can and place it by the kitchenpot for cooking food",
+    "Lift the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and place it beside the kitchenpot for cooking food",
+    "Pick up the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can, move it near the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the medium kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the medium kitchenpot",
+    "Use the right arm to grab the medium sauce can and place it by the kitchenpot for cooking food",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and place it beside the kitchenpot for cooking food",
+    "Pick up the sauce can with red lid and move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid, move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium kitchenpot",
+    "Lift the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Grab the medium sauce can and move it near the medium kitchenpot",
+    "Grab the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the medium sauce can, move it near the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the kitchenpot for cooking food",
+    "Lift the smooth cylindrical sauce can and set it beside the medium kitchenpot",
+    "Grab the sauce can with red lid and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the medium sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Lift the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with red lid and move it near the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the medium sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the kitchenpot for cooking food",
+    "Lift the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and place it beside the medium kitchenpot",
+    "Pick up the medium sauce can and move it near the medium kitchenpot",
+    "Grab the medium sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the kitchenpot for cooking food",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium kitchenpot",
+    "Lift the medium sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the smooth cylindrical sauce can and move it near the medium kitchenpot",
+    "Grab the sauce can with red lid and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid, move it near the kitchenpot for cooking food",
+    "Grab the medium sauce can and place it near the medium kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the compact kitchenpot with lid-like surface",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it beside the medium kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and move it near the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid, move it near the kitchenpot for cooking food"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode4.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3579a8f2445b0354ee55ea4184dc9f0272dacf1b
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can with flat bottom, move it beside the gray pot with blue circular lid",
+    "Use the left arm to lift the smooth sauce can and place it next to the metal pot with dark handles",
+    "Grab the sauce can with flat top, shift it, and place it close to the matte gray pot with durable lid",
+    "Move the red cylindrical sauce can to be next to the cooking pot with two handles",
+    "Use the left arm to grab the red can with gold patterns and move it beside the metal kitchenpot with brown handles",
+    "Take the red can with gold patterns with the left arm, place it near the gray kitchenpot",
+    "Place the red plastic sauce can beside the gray cylindrical pot after picking it up",
+    "Lift the cylindrical sauce can and set it beside the cooking pot with two handles",
+    "Grab the red sauce can for holding condiments with the left arm and position it beside the cooking pot with two handles",
+    "Grab the cylindrical sauce can, move it to the matte gray pot with durable lid's side",
+    "Move the smooth sauce can from its spot to near the gray cylindrical pot",
+    "Lift the red and gold sauce can and place it next to the matte gray pot with durable lid",
+    "Set the sauce can with flat top right next to the round blue-lid kitchenpot for stovetop",
+    "Lift the red plastic sauce can using the left arm and position it by the blue kitchenpot lid with black knob",
+    "Use the left arm to grab the medium-sized red sauce can and transfer it near the metal kitchenpot with brown handles",
+    "Pick the smooth sauce can up and move it next to the gray cylindrical pot",
+    "Use the left arm to move the medium-sized red sauce can beside the pots for boiling and cooking",
+    "Use the left arm to pick the red plastic sauce can up and set it beside the matte gray pot with durable lid",
+    "Pick the sauce can with flat top up with the left arm then place near the matte gray pot with durable lid",
+    "Grab the sauce can with white details and move it close to the round blue-lid kitchenpot for stovetop",
+    "Lift the red sauce can for holding condiments and set it next to the gray cylindrical pot",
+    "Use the left arm to lift the red cylindrical sauce can and place it near the pots for boiling and cooking",
+    "Place the red plastic sauce can next to the gray pot with blue circular lid",
+    "Grab the red plastic sauce can, move it, and place by the gray kitchenpot",
+    "Grab the sauce can with flat top with the left arm and move it close to the cooking pot with two handles",
+    "Take the sauce can with flat bottom with the left arm, bring it, and set next to the blue-lid kitchenpot",
+    "Take the smooth sauce can to the blue-lid kitchenpot using the left arm",
+    "Bring the red cylindrical sauce can over and set it near the kitchenpot with plastic knob on lid",
+    "Use the left arm to pick the sauce can with flat bottom, position it near the gray cylindrical pot",
+    "Pick up the sauce can with flat bottom and put it beside the gray pot with blue circular lid",
+    "Use the left arm to take the red can with gold patterns to the metal pot with dark handles",
+    "Pick up the red sauce can for holding condiments with the left arm and set by the matte gray pot with durable lid",
+    "Lift the red cylindrical sauce can and set it next to the matte gray pot with durable lid",
+    "Use the left arm to lift the red sauce can, then move it next to the matte gray pot with durable lid",
+    "Set the smooth sauce can near the blue kitchenpot lid with black knob after picking it up",
+    "Lift the sauce can with white details, place it by the cooking pot with two handles",
+    "Pick up the red plastic sauce can using the left arm, transfer it beside the metal kitchenpot with brown handles",
+    "Lift the sauce can with flat top, then place it next to the matte gray pot with durable lid",
+    "Take the red plastic sauce can using the left arm, set it next to the blue-lid kitchenpot",
+    "Using the left arm, lift the sauce can with flat bottom and place it by the pots for boiling and cooking",
+    "Move the red sauce can for holding condiments beside the round blue-lid kitchenpot for stovetop after lifting it",
+    "Lift the red can with gold patterns and move it near the matte gray pot with durable lid",
+    "Pick the sauce can with flat bottom and position it next to the pots for boiling and cooking",
+    "Pick the sauce can with flat bottom up and carefully position it beside the metal kitchenpot with brown handles",
+    "Grab the medium-sized red sauce can with the left arm and set it near the kitchenpot with plastic knob on lid",
+    "Pick the red sauce can with the left arm and relocate it near the metal pot with dark handles",
+    "Use the left arm to grab the sauce can with white details and move it next to the metal pot with dark handles",
+    "Move the red and gold sauce can to the round blue-lid kitchenpot for stovetop with the left arm",
+    "Lift the red cylindrical sauce can using the left arm and drop it beside the metal pot with dark handles",
+    "With the left arm, grab the sauce can with flat top and move to the pots for boiling and cooking",
+    "Use the left arm to grab the sauce can with flat top, move it beside the cooking pot with two handles",
+    "Use the left arm to lift the red cylindrical sauce can and place it next to the pots for boiling and cooking",
+    "Grab the smooth sauce can, shift it, and place it close to the cooking pot with two handles",
+    "Move the red sauce can for holding condiments to be next to the gray cylindrical pot",
+    "Use the left arm to grab the red sauce can and move it beside the gray pot with blue circular lid",
+    "Take the red sauce can for holding condiments with the left arm, place it near the blue kitchenpot lid with black knob",
+    "Place the sauce can with flat bottom beside the pots for boiling and cooking after picking it up",
+    "Lift the red and gold sauce can and set it beside the matte gray pot with durable lid",
+    "Grab the sauce can with white details with the left arm and position it beside the gray cylindrical pot",
+    "Grab the smooth sauce can, move it to the cooking pot with two handles's side",
+    "Move the medium-sized red sauce can from its spot to near the blue kitchenpot lid with black knob",
+    "Lift the sauce can with flat top and place it next to the pots for boiling and cooking",
+    "Set the red sauce can right next to the gray pot with blue circular lid",
+    "Lift the red plastic sauce can using the left arm and position it by the pots for boiling and cooking",
+    "Use the left arm to grab the sauce can with flat bottom and transfer it near the blue kitchenpot lid with black knob",
+    "Pick the red and gold sauce can up and move it next to the cooking pot with two handles",
+    "Use the left arm to move the red plastic sauce can beside the gray cylindrical pot",
+    "Use the left arm to pick the red sauce can for holding condiments up and set it beside the kitchenpot with plastic knob on lid",
+    "Pick the smooth sauce can up with the left arm then place near the cooking pot with two handles",
+    "Grab the red sauce can and move it close to the pots for boiling and cooking",
+    "Lift the sauce can with flat bottom and set it next to the blue kitchenpot lid with black knob",
+    "Use the left arm to lift the medium-sized red sauce can and place it near the pots for boiling and cooking",
+    "Place the red sauce can for holding condiments next to the gray cylindrical pot",
+    "Grab the sauce can with flat bottom, move it, and place by the gray pot with blue circular lid",
+    "Grab the red can with gold patterns with the left arm and move it close to the blue-lid kitchenpot",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the blue-lid kitchenpot",
+    "Take the sauce can with white details to the blue kitchenpot lid with black knob using the left arm",
+    "Bring the cylindrical sauce can over and set it near the metal pot with dark handles",
+    "Use the left arm to pick the red sauce can for holding condiments, position it near the metal pot with dark handles",
+    "Pick up the red sauce can and put it beside the gray cylindrical pot",
+    "Use the left arm to take the red can with gold patterns to the pots for boiling and cooking",
+    "Pick up the red sauce can with the left arm and set by the blue kitchenpot lid with black knob",
+    "Lift the red sauce can for holding condiments and set it next to the blue-lid kitchenpot",
+    "Use the left arm to lift the sauce can with flat top, then move it next to the gray kitchenpot",
+    "Set the red and gold sauce can near the metal pot with dark handles after picking it up",
+    "Lift the red and gold sauce can, place it by the cooking pot with two handles",
+    "Pick up the red sauce can using the left arm, transfer it beside the blue kitchenpot lid with black knob",
+    "Lift the sauce can with flat top, then place it next to the gray pot with blue circular lid",
+    "Take the red sauce can using the left arm, set it next to the kitchenpot with plastic knob on lid",
+    "Using the left arm, lift the red sauce can and place it by the metal pot with dark handles",
+    "Move the sauce can with white details beside the blue kitchenpot lid with black knob after lifting it",
+    "Lift the smooth sauce can and move it near the matte gray pot with durable lid",
+    "Pick the medium-sized red sauce can and position it next to the matte gray pot with durable lid",
+    "Pick the red can with gold patterns up and carefully position it beside the metal pot with dark handles",
+    "Grab the red sauce can for holding condiments with the left arm and set it near the round blue-lid kitchenpot for stovetop",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the kitchenpot with plastic knob on lid",
+    "Use the left arm to grab the red cylindrical sauce can and move it next to the blue-lid kitchenpot",
+    "Move the sauce can with flat bottom to the kitchenpot with plastic knob on lid with the left arm",
+    "Lift the red sauce can for holding condiments using the left arm and drop it beside the blue-lid kitchenpot",
+    "With the left arm, grab the sauce can with flat bottom and move to the round blue-lid kitchenpot for stovetop"
+  ],
+  "unseen": [
+    "Grab the smooth cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the smooth cylindrical sauce can and move it near the medium stove pot",
+    "Lift the smooth cylindrical sauce can and set it beside the medium stove pot",
+    "Pick up the smooth cylindrical sauce can and move it near the round pot with blue top",
+    "Grab the sauce can with red lid and place it near the round pot with blue top",
+    "Pick up the smooth cylindrical sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with red lid and place it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can and move it beside the medium stove pot",
+    "Use the left arm to pick up the medium sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the medium sauce can and set it beside the round pot with blue top",
+    "Grab the medium sauce can and move it near the medium stove pot",
+    "Lift the medium sauce can and set it beside the medium stove pot",
+    "Pick up the sauce can with red lid and move it near the medium stove pot",
+    "Grab the medium sauce can and place it near the round pot with blue top",
+    "Pick up the sauce can with red lid and set it beside the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can and move it beside the round pot with blue top",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can with red lid and place it by the medium stove pot",
+    "Grab the sauce can with red lid and set it beside the medium stove pot",
+    "Grab the medium sauce can and move it near the medium stove pot",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with red lid and move it near the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it near the medium stove pot",
+    "Pick up the sauce can with red lid and set it beside the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the medium stove pot",
+    "Grab the smooth cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and move it near the round pot with blue top",
+    "Lift the sauce can with red lid and set it beside the round pot with blue top",
+    "Pick up the sauce can with red lid and move it near the round pot with blue top",
+    "Grab the medium sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the smooth cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the medium sauce can and place it beside the round pot with blue top",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the medium stove pot",
+    "Use the left arm to pick up the medium sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the sauce can with red lid and place it by the medium stove pot",
+    "Grab the smooth cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and move it near the round pot with blue top",
+    "Lift the smooth cylindrical sauce can and set it beside the round pot with blue top",
+    "Pick up the medium sauce can and move it near the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the smooth cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and place it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the medium sauce can and place it by the medium stove pot",
+    "Grab the medium sauce can and set it beside the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and move it near the medium stove pot",
+    "Lift the sauce can with red lid and set it beside the round pot with blue top",
+    "Pick up the sauce can with red lid and move it near the medium stove pot",
+    "Grab the sauce can with red lid and place it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can with red lid and set it beside the medium stove pot",
+    "Grab the sauce can with red lid and place it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can and move it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the sauce can with red lid and set it beside the round pot with blue top",
+    "Grab the medium sauce can and move it near the medium stove pot",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the smooth cylindrical sauce can and move it near the round pot with blue top",
+    "Grab the medium sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can and set it beside the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the medium sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with red lid and move it near the kitchenpot with smooth matte body",
+    "Lift the sauce can with red lid and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with red lid and move it near the medium stove pot",
+    "Grab the medium sauce can and place it near the medium stove pot",
+    "Pick up the medium sauce can and set it beside the medium stove pot",
+    "Grab the smooth cylindrical sauce can and place it beside the round pot with blue top",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the round pot with blue top",
+    "Use the left arm to pick up the sauce can with red lid, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the medium stove pot",
+    "Grab the smooth cylindrical sauce can and set it beside the medium stove pot",
+    "Grab the medium sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the medium sauce can and set it beside the medium stove pot",
+    "Pick up the sauce can with red lid and move it near the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and place it near the round pot with blue top",
+    "Pick up the sauce can with red lid and set it beside the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the medium sauce can and place it by the medium stove pot",
+    "Grab the sauce can with red lid and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with red lid and move it near the round pot with blue top",
+    "Lift the sauce can with red lid and set it beside the round pot with blue top",
+    "Pick up the sauce can with red lid and move it near the round pot with blue top",
+    "Grab the smooth cylindrical sauce can and place it near the medium stove pot",
+    "Pick up the sauce can with red lid and set it beside the kitchenpot with smooth matte body",
+    "Grab the smooth cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the medium stove pot",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the sauce can with red lid and place it by the round pot with blue top"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode5.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..17fb8aedd018df8f41837617ac661e2f100eddc5
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow label sauce can with the right arm and set it near the kitchenpot for boiling and cooking",
+    "Take the printed label sauce can with the right arm, place it near the gray kitchenpot",
+    "Pick the brown sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Use the right arm to lift the smooth cylindrical sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Lift the smooth cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Grab the sauce can with brown lid with the right arm and position it beside the medium kitchenpot made of metal",
+    "Move the cylindrical sauce can from its spot to near the gray cylindrical metal kitchenpot",
+    "Use the right arm to pick the sauce can with brown lid up and set it beside the gray cylindrical metal kitchenpot",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Pick the yellow label sauce can up and move it next to the kitchenpot with smooth exterior",
+    "Use the right arm to grab the smooth cylindrical sauce can and move it beside the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the right arm and move it close to the cylindrical kitchenpot",
+    "Grab the metal sauce can, move it to the gray cylindrical metal kitchenpot's side",
+    "Pick up the brown top sauce can with the right arm and set by the metal kitchenpot",
+    "Use the right arm to take the brown sauce can to the round kitchenpot with handles",
+    "Pick the printed label sauce can up with the right arm then place near the medium kitchenpot made of metal",
+    "Grab the sauce can for condiments and move it close to the kitchenpot for boiling and cooking",
+    "Set the sauce can with ingredient information near the kitchenpot with smooth exterior after picking it up",
+    "Take the brown top sauce can with the right arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Lift the metal sauce can and place it next to the metal kitchenpot",
+    "Pick the printed label sauce can with the right arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the brown sauce can and set it next to the medium kitchenpot made of metal",
+    "Lift the smooth cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Pick up the metal sauce can and put it beside the gray kitchenpot",
+    "Use the right arm to lift the sauce can with ingredient information and place it next to the kitchenpot with smooth exterior",
+    "Take the sauce can for condiments to the cooking kitchenpot with side grips using the right arm",
+    "Use the right arm to lift the brown sauce can and place it near the gray kitchenpot",
+    "Lift the yellow and brown sauce can using the right arm and position it by the gray cylindrical metal kitchenpot",
+    "Grab the brown sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "Use the right arm to pick the brown top sauce can, position it near the metal kitchenpot",
+    "Move the sauce can for condiments to be next to the round kitchenpot with handles",
+    "Move the yellow label sauce can beside the gray kitchenpot after lifting it",
+    "Lift the cylindrical sauce can, place it by the metal kitchenpot",
+    "Take the sauce can for condiments using the right arm, set it next to the medium kitchenpot made of metal",
+    "Place the sauce can with brown lid beside the medium-sized kitchenpot after picking it up",
+    "Use the right arm to grab the metal sauce can and transfer it near the kitchenpot with smooth exterior",
+    "Move the metal sauce can to the metal kitchenpot with the right arm",
+    "Grab the cylindrical sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Pick the smooth cylindrical sauce can and position it next to the kitchenpot for boiling and cooking",
+    "Using the right arm, lift the brown sauce can and place it by the medium-sized kitchenpot",
+    "Set the sauce can with ingredient information right next to the gray kitchenpot",
+    "Place the cylindrical sauce can next to the medium kitchenpot made of metal",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Use the right arm to move the sauce can with ingredient information beside the cooking kitchenpot with side grips",
+    "Bring the cylindrical sauce can over and set it near the medium kitchenpot made of metal",
+    "Lift the sauce can with brown lid and set it beside the gray cylindrical metal kitchenpot",
+    "With the right arm, grab the medium sauce can and move to the medium kitchenpot made of metal",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the metal kitchenpot",
+    "Use the right arm to grab the printed label sauce can and move it next to the round kitchenpot with handles",
+    "Grab the yellow label sauce can with the right arm and set it near the metal kitchenpot",
+    "Take the yellow and brown sauce can with the right arm, place it near the medium-sized kitchenpot",
+    "Pick the sauce can with ingredient information up and carefully position it beside the kitchenpot with smooth exterior",
+    "Use the right arm to lift the yellow label sauce can, then move it next to the medium-sized kitchenpot",
+    "Lift the yellow label sauce can and move it near the kitchenpot with smooth exterior",
+    "Grab the medium sauce can with the right arm and position it beside the round kitchenpot with handles",
+    "Move the brown top sauce can from its spot to near the gray kitchenpot",
+    "Use the right arm to pick the smooth cylindrical sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Pick up the printed label sauce can using the right arm, transfer it beside the kitchenpot with smooth exterior",
+    "Pick the sauce can with brown lid up and move it next to the kitchenpot with smooth exterior",
+    "Use the right arm to grab the medium sauce can and move it beside the cylindrical kitchenpot",
+    "Grab the sauce can with ingredient information with the right arm and move it close to the kitchenpot with smooth exterior",
+    "Grab the medium sauce can, move it to the gray kitchenpot's side",
+    "Pick up the sauce can with ingredient information with the right arm and set by the metal kitchenpot",
+    "Use the right arm to take the metal sauce can to the kitchenpot for boiling and cooking",
+    "Pick the sauce can with brown lid up with the right arm then place near the medium kitchenpot made of metal",
+    "Grab the yellow and brown sauce can and move it close to the smooth gray kitchenpot",
+    "Set the yellow and brown sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Take the metal sauce can with the right arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Lift the smooth cylindrical sauce can and place it next to the medium kitchenpot made of metal",
+    "Pick the cylindrical sauce can with the right arm and relocate it near the smooth gray kitchenpot",
+    "Lift the brown top sauce can and set it next to the dark gray stove kitchenpot",
+    "Lift the brown top sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Pick up the printed label sauce can and put it beside the cylindrical kitchenpot",
+    "Use the right arm to lift the yellow label sauce can and place it next to the dark gray stove kitchenpot",
+    "Take the sauce can for condiments to the medium-sized kitchenpot using the right arm",
+    "Use the right arm to lift the brown top sauce can and place it near the kitchenpot with smooth exterior",
+    "Lift the brown sauce can using the right arm and position it by the gray kitchenpot",
+    "Grab the sauce can with brown lid, move it, and place by the gray cylindrical metal kitchenpot",
+    "Use the right arm to pick the yellow label sauce can, position it near the metal kitchenpot",
+    "Move the metal sauce can to be next to the gray kitchenpot",
+    "Move the printed label sauce can beside the gray kitchenpot after lifting it",
+    "Lift the sauce can for condiments, place it by the kitchenpot with smooth exterior",
+    "Take the cylindrical sauce can using the right arm, set it next to the gray cylindrical metal kitchenpot",
+    "Place the cylindrical sauce can beside the metal kitchenpot after picking it up",
+    "Use the right arm to grab the sauce can with brown lid and transfer it near the gray kitchenpot",
+    "Move the brown sauce can to the kitchenpot with smooth exterior with the right arm",
+    "Grab the sauce can with brown lid, shift it, and place it close to the medium-sized kitchenpot",
+    "Pick the smooth cylindrical sauce can and position it next to the gray kitchenpot",
+    "Using the right arm, lift the yellow and brown sauce can and place it by the medium-sized kitchenpot",
+    "Set the brown top sauce can right next to the cooking kitchenpot with side grips",
+    "Place the sauce can for condiments next to the kitchenpot for boiling and cooking",
+    "Lift the yellow and brown sauce can using the right arm and drop it beside the metal kitchenpot",
+    "Lift the medium sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Use the right arm to move the brown sauce can beside the gray kitchenpot",
+    "Bring the metal sauce can over and set it near the cooking kitchenpot with side grips",
+    "Lift the medium sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "With the right arm, grab the brown top sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the right arm to grab the sauce can for condiments, move it beside the cooking kitchenpot with side grips",
+    "Use the right arm to grab the brown sauce can and move it next to the round kitchenpot with handles"
+  ],
+  "unseen": [
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it beside the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it beside the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the metal body sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the gray kitchenpot with rounded edges"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode6.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..dead8b228b3fa684ed342975e00ddfdf574275c5
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red can with orange label up and carefully position it beside the black kitchenpot with flat lid",
+    "Lift the sauce can with printed design and set it next to the black kitchenpot with silver handle bars",
+    "Pick the red can with orange label up and move it next to the black kitchenpot with flat lid",
+    "Place the sauce can with rounded top cap beside the medium kitchenpot with smooth surface after picking it up",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the black metal kitchenpot",
+    "Move the metal body sauce can to the black kitchenpot with silver handle bars with the right arm",
+    "Use the right arm to grab the red and orange sauce can and move it beside the black metal kitchenpot",
+    "Grab the small metal sauce container with the right arm and set it near the cooking kitchenpot with sturdy handles",
+    "Take the sturdy sauce can with glossy finish with the right arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Pick the metal body sauce can and position it next to the medium kitchenpot with smooth surface",
+    "Move the sauce can with printed design to be next to the medium kitchenpot with smooth surface",
+    "Use the right arm to grab the small metal sauce container, move it beside the kitchenpot with metallic round lid",
+    "Use the right arm to lift the cylindrical sauce can and place it near the kitchenpot with metallic round lid",
+    "Use the right arm to lift the red and orange sauce can and place it next to the black metal kitchenpot",
+    "Move the small cylindrical sauce can beside the black kitchenpot with round lid after lifting it",
+    "Take the smooth sauce can to the black kitchenpot using the right arm",
+    "Using the right arm, lift the red and orange sauce can and place it by the medium kitchenpot with smooth surface",
+    "Lift the sauce can with rounded top cap, then place it next to the black kitchenpot with plastic lid handle",
+    "With the right arm, grab the red can with orange label and move to the medium kitchenpot with smooth surface",
+    "Lift the small cylindrical sauce can and move it near the black metal kitchenpot",
+    "Lift the smooth sauce can and set it next to the black kitchenpot with plastic lid handle",
+    "Place the compact sauce can with plastic lid next to the cooking kitchenpot with sturdy handles",
+    "Pick up the sauce can with printed design using the right arm, transfer it beside the black kitchenpot",
+    "Pick the red and orange sauce can with the right arm and relocate it near the kitchenpot for boiling food",
+    "Use the right arm to grab the sauce can with red lid and transfer it near the black metal kitchenpot",
+    "Take the sauce can with red lid with the right arm, place it near the black kitchenpot with plastic lid handle",
+    "Use the right arm to take the sauce can with rounded top cap to the black kitchenpot",
+    "Use the right arm to pick the smooth sauce can up and set it beside the black kitchenpot with round lid",
+    "Grab the sauce can with printed design, shift it, and place it close to the black kitchenpot",
+    "Pick the small metal sauce container up with the right arm then place near the black kitchenpot with silver handle bars",
+    "Grab the metal body sauce can with the right arm and move it close to the black kitchenpot with silver and black handles",
+    "Lift the sturdy sauce can with glossy finish, place it by the kitchenpot with metallic round lid",
+    "Grab the sturdy sauce can with glossy finish with the right arm and position it beside the black kitchenpot",
+    "Use the right arm to move the red and orange sauce can beside the black metal kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the medium kitchenpot with smooth surface",
+    "Lift the metal body sauce can and place it next to the black kitchenpot with plastic lid handle",
+    "Grab the metal body sauce can, move it to the cooking kitchenpot with sturdy handles's side",
+    "Grab the sauce can with printed design and move it close to the black kitchenpot with silver handle bars",
+    "Pick up the sauce can with red lid with the right arm and set by the kitchenpot for boiling food",
+    "Use the right arm to pick the compact sauce can with plastic lid, position it near the black kitchenpot with silver handle bars",
+    "Move the red and orange sauce can from its spot to near the black kitchenpot with flat lid",
+    "Pick up the compact sauce can with plastic lid and put it beside the black kitchenpot with silver handle bars",
+    "Take the sauce can with red lid using the right arm, set it next to the black kitchenpot with silver and black handles",
+    "Set the red can with orange label right next to the black kitchenpot with round lid",
+    "Set the smooth sauce can near the black cooking pot with silver handles after picking it up",
+    "Grab the cylindrical sauce can, move it, and place by the black metal kitchenpot",
+    "Lift the sturdy sauce can with glossy finish using the right arm and drop it beside the medium kitchenpot with smooth surface",
+    "Use the right arm to lift the small cylindrical sauce can, then move it next to the black kitchenpot with silver handle bars",
+    "Bring the sturdy sauce can with glossy finish over and set it near the black kitchenpot with round lid",
+    "Lift the metal body sauce can using the right arm and position it by the black kitchenpot",
+    "Pick the compact sauce can with plastic lid up and carefully position it beside the medium kitchenpot with smooth surface",
+    "Lift the sauce can with rounded top cap and set it next to the black kitchenpot with silver and black handles",
+    "Pick the cylindrical sauce can up and move it next to the black kitchenpot",
+    "Place the small metal sauce container beside the black kitchenpot with round lid after picking it up",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the black kitchenpot with silver and black handles",
+    "Move the metal body sauce can to the black cooking pot with silver handles with the right arm",
+    "Use the right arm to grab the cylindrical sauce can and move it beside the kitchenpot with metallic round lid",
+    "Grab the small cylindrical sauce can with the right arm and set it near the black kitchenpot with silver and black handles",
+    "Take the sturdy sauce can with glossy finish with the right arm, bring it, and set next to the black kitchenpot",
+    "Pick the smooth sauce can and position it next to the black kitchenpot with round lid",
+    "Move the sauce can with red lid to be next to the black kitchenpot with silver handle bars",
+    "Use the right arm to grab the sauce can with printed design, move it beside the black metal kitchenpot",
+    "Use the right arm to lift the small cylindrical sauce can and place it near the black cooking pot with silver handles",
+    "Use the right arm to lift the red can with orange label and place it next to the black kitchenpot",
+    "Move the red and orange sauce can beside the black kitchenpot with silver and black handles after lifting it",
+    "Take the sauce can with rounded top cap to the kitchenpot with metallic round lid using the right arm",
+    "Using the right arm, lift the small metal sauce container and place it by the black kitchenpot with silver handle bars",
+    "Lift the metal body sauce can, then place it next to the black kitchenpot with plastic lid handle",
+    "With the right arm, grab the red can with orange label and move to the black kitchenpot with flat lid",
+    "Lift the compact sauce can with plastic lid and move it near the black kitchenpot with round lid",
+    "Lift the cylindrical sauce can and set it next to the black cooking pot with silver handles",
+    "Place the red can with orange label next to the medium kitchenpot with smooth surface",
+    "Pick up the small cylindrical sauce can using the right arm, transfer it beside the black kitchenpot with flat lid",
+    "Pick the cylindrical sauce can with the right arm and relocate it near the black kitchenpot with silver and black handles",
+    "Use the right arm to grab the red can with orange label and transfer it near the kitchenpot for boiling food",
+    "Take the sauce can with rounded top cap with the right arm, place it near the black kitchenpot with round lid",
+    "Use the right arm to take the red can with orange label to the medium kitchenpot with smooth surface",
+    "Use the right arm to pick the small metal sauce container up and set it beside the black cooking pot with silver handles",
+    "Grab the red can with orange label, shift it, and place it close to the medium kitchenpot with smooth surface",
+    "Pick the sauce can with printed design up with the right arm then place near the black metal kitchenpot",
+    "Grab the sauce can with rounded top cap with the right arm and move it close to the medium kitchenpot with smooth surface",
+    "Lift the sauce can with rounded top cap, place it by the kitchenpot with metallic round lid",
+    "Grab the small metal sauce container with the right arm and position it beside the black kitchenpot with plastic lid handle",
+    "Use the right arm to move the sauce can with red lid beside the black kitchenpot with round lid",
+    "Lift the sauce can with red lid and set it beside the kitchenpot with metallic round lid",
+    "Lift the red can with orange label and place it next to the black kitchenpot",
+    "Grab the metal body sauce can, move it to the black metal kitchenpot's side",
+    "Grab the sauce can with red lid and move it close to the black cooking pot with silver handles",
+    "Pick up the cylindrical sauce can with the right arm and set by the kitchenpot with metallic round lid",
+    "Use the right arm to pick the red and orange sauce can, position it near the kitchenpot with metallic round lid",
+    "Move the sauce can with printed design from its spot to near the cooking kitchenpot with sturdy handles",
+    "Pick up the sauce can with red lid and put it beside the black kitchenpot with silver handle bars",
+    "Take the metal body sauce can using the right arm, set it next to the black kitchenpot with round lid",
+    "Set the small metal sauce container right next to the black kitchenpot with plastic lid handle",
+    "Set the small metal sauce container near the cooking kitchenpot with sturdy handles after picking it up",
+    "Grab the compact sauce can with plastic lid, move it, and place by the cooking kitchenpot with sturdy handles",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the kitchenpot with metallic round lid",
+    "Use the right arm to lift the metal body sauce can, then move it next to the medium kitchenpot with smooth surface",
+    "Bring the sturdy sauce can with glossy finish over and set it near the kitchenpot with metallic round lid",
+    "Lift the sauce can with rounded top cap using the right arm and position it by the kitchenpot with metallic round lid"
+  ],
+  "unseen": [
+    "Grab the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Pick up the red sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red can with white text and set it beside the round black kitchenpot",
+    "Grab the red sauce can and place it near the shiny black kitchenpot",
+    "Grab the red can with white text and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red can with white text and place it by the medium black kitchenpot with lid",
+    "Grab the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Pick up the red can with white text and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the shiny black kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Grab the red can with white text and move it near the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the round black kitchenpot",
+    "Pick up the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it near the medium black kitchenpot with lid",
+    "Grab the red sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the medium black kitchenpot with lid",
+    "Lift the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the round black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and place it near the shiny black kitchenpot",
+    "Grab the red can with white text and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Grab the red sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the round black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it near the shiny black kitchenpot",
+    "Grab the red sauce can and place it beside the shiny black kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the shiny black kitchenpot",
+    "Grab the red can with white text and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the shiny black kitchenpot",
+    "Lift the red can with white text and set it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Pick up the red can with white text and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the round black kitchenpot",
+    "Pick up the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and place it near the shiny black kitchenpot",
+    "Grab the red can with white text and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red can with white text and place it by the round black kitchenpot",
+    "Grab the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the red can with white text and move it beside the medium black kitchenpot with lid",
+    "Lift the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the red can with white text and place it by the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red can with white text and place it near the round black kitchenpot",
+    "Grab the red sauce can and place it beside the shiny black kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the shiny black kitchenpot",
+    "Grab the red can with white text and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the round black kitchenpot",
+    "Lift the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red can with white text and move it near the round black kitchenpot",
+    "Pick up the red can with white text and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the round black kitchenpot",
+    "Pick up the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the red sauce can and place it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it beside the shiny black kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and move it near the round black kitchenpot",
+    "Pick up the red sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the red can with white text and set it beside the round black kitchenpot",
+    "Grab the red sauce can and place it near the round black kitchenpot",
+    "Grab the red sauce can and place it beside the round black kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the shiny black kitchenpot",
+    "Lift the red sauce can and set it beside the shiny black kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode7.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad5e4d7b9df6b235107810d3e5b5754847141eb
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the cylindrical sauce can and move it beside the medium-sized smooth gray cooking pot",
+    "Use the right arm to pick the rounded-edge sauce can up and set it beside the medium-sized smooth gray cooking pot",
+    "Place the brown and yellow cylindrical sauce can next to the kitchenpot with smooth texture",
+    "Use the right arm to grab the round sauce can with yellow pattern and transfer it near the rounded pot with metal lid",
+    "Set the sauce can right next to the kitchenpot used for cooking meals",
+    "Move the sauce can with sealed top to be next to the pot with lid and sturdy handles",
+    "Set the yellow brown sauce can near the medium-sized smooth gray cooking pot after picking it up",
+    "Use the right arm to take the yellow brown sauce can to the round pot with dark gray knob",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the dark gray pot with side handles",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the rounded pot with metal lid",
+    "Lift the sauce can with glossy finish, then place it next to the metal cooking pot",
+    "With the right arm, grab the sauce can with sealed top and move to the rounded pot with metal lid",
+    "Pick up the sauce can with the right arm and set by the rounded pot with metal lid",
+    "Pick the white plastic lid sauce can and position it next to the metal cooking pot",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and position it by the medium-sized smooth gray cooking pot",
+    "Use the right arm to pick the plastic lid sauce can, position it near the dark gray pot with side handles",
+    "Use the right arm to move the sauce can with sealed top beside the gray kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the medium-sized smooth gray cooking pot",
+    "Grab the rounded-edge sauce can, move it, and place by the rounded pot with metal lid",
+    "Lift the round sauce can with yellow pattern, place it by the kitchenpot used for cooking meals",
+    "Lift the round sauce can with yellow pattern and move it near the kitchenpot used for cooking meals",
+    "Move the rounded-edge sauce can beside the medium-sized smooth gray cooking pot after lifting it",
+    "Grab the round sauce can with yellow pattern and move it close to the medium-sized smooth gray cooking pot",
+    "Take the hand-sized sauce can with the right arm, bring it, and set next to the dark gray pot with side handles",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the rounded pot with metal lid",
+    "Move the sauce can with sealed top to the pot with lid and sturdy handles with the right arm",
+    "Take the brown and yellow cylindrical sauce can with the right arm, place it near the metal cooking pot",
+    "Move the hand-sized sauce can from its spot to near the pot with round lid",
+    "Use the right arm to lift the sauce can with sealed top and place it near the kitchenpot with smooth texture",
+    "Take the round sauce can with yellow pattern using the right arm, set it next to the metal cooking pot",
+    "Use the right arm to lift the yellow brown sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Pick the hand-sized sauce can with the right arm and relocate it near the kitchenpot with smooth texture",
+    "Use the right arm to grab the plastic lid sauce can and move it next to the medium-sized smooth gray cooking pot",
+    "Lift the hand-sized sauce can and set it next to the gray pot for boiling food",
+    "Grab the sauce can with glossy finish with the right arm and set it near the kitchenpot used for cooking meals",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the metal cooking pot",
+    "Pick up the rounded-edge sauce can using the right arm, transfer it beside the gray kitchenpot",
+    "Lift the rounded-edge sauce can and set it beside the gray kitchenpot",
+    "Using the right arm, lift the sauce can with glossy finish and place it by the kitchenpot used for cooking meals",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the metal cooking pot",
+    "Place the round sauce can with yellow pattern beside the medium gray pot with handles after picking it up",
+    "Take the white plastic lid sauce can to the kitchenpot with smooth texture using the right arm",
+    "Pick the cylindrical sauce can up with the right arm then place near the pot with round lid",
+    "Lift the medium sauce can with white lid using the right arm and drop it beside the medium gray pot with handles",
+    "Pick the plastic lid sauce can up and carefully position it beside the rounded pot with metal lid",
+    "Use the right arm to lift the medium sauce can with white lid, then move it next to the dark gray pot with side handles",
+    "Grab the rounded-edge sauce can, move it to the kitchenpot with smooth texture's side",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can, move it beside the medium-sized smooth gray cooking pot",
+    "Lift the sauce can and place it next to the medium gray pot with handles",
+    "Grab the medium sauce can with white lid with the right arm and move it close to the round pot with dark gray knob",
+    "Use the right arm to grab the plastic lid sauce can and move it beside the rounded pot with metal lid",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the rounded pot with metal lid",
+    "Place the rounded-edge sauce can next to the round pot with dark gray knob",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and transfer it near the rounded pot with metal lid",
+    "Set the medium sauce can with white lid right next to the metal cooking pot",
+    "Move the medium sauce can with white lid to be next to the round pot with dark gray knob",
+    "Set the cylindrical sauce can near the pot with lid and sturdy handles after picking it up",
+    "Use the right arm to take the white plastic lid sauce can to the kitchenpot with smooth texture",
+    "Pick up the sauce can with sealed top and put it beside the kitchenpot with smooth texture",
+    "Pick the yellow brown sauce can up and move it next to the metal cooking pot",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray kitchenpot",
+    "With the right arm, grab the round sauce can with yellow pattern and move to the pot with lid and sturdy handles",
+    "Pick up the sauce can with sealed top with the right arm and set by the kitchenpot with smooth texture",
+    "Pick the plastic lid sauce can and position it next to the round pot with dark gray knob",
+    "Lift the medium sauce can with white lid using the right arm and position it by the rounded pot with metal lid",
+    "Use the right arm to pick the plastic lid sauce can, position it near the medium-sized smooth gray cooking pot",
+    "Use the right arm to move the sauce can with glossy finish beside the dark gray pot with side handles",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the metal cooking pot",
+    "Grab the sauce can with sealed top, move it, and place by the kitchenpot used for cooking meals",
+    "Lift the medium sauce can with white lid, place it by the medium-sized smooth gray cooking pot",
+    "Lift the sauce can with sealed top and move it near the kitchenpot used for cooking meals",
+    "Move the round sauce can with yellow pattern beside the metal cooking pot after lifting it",
+    "Grab the yellow brown sauce can and move it close to the medium gray pot with handles",
+    "Take the medium sauce can with white lid with the right arm, bring it, and set next to the rounded pot with metal lid",
+    "Grab the yellow brown sauce can, shift it, and place it close to the metal cooking pot",
+    "Move the plastic lid sauce can to the kitchenpot with smooth texture with the right arm",
+    "Take the rounded-edge sauce can with the right arm, place it near the round pot with dark gray knob",
+    "Move the rounded-edge sauce can from its spot to near the gray pot for boiling food",
+    "Use the right arm to lift the sauce can with glossy finish and place it near the medium-sized smooth gray cooking pot",
+    "Take the brown and yellow cylindrical sauce can using the right arm, set it next to the rounded pot with metal lid",
+    "Use the right arm to lift the plastic lid sauce can and place it next to the pot with round lid",
+    "Pick the brown and yellow cylindrical sauce can with the right arm and relocate it near the metal cooking pot",
+    "Use the right arm to grab the sauce can with sealed top and move it next to the pot with lid and sturdy handles",
+    "Lift the round sauce can with yellow pattern and set it next to the gray pot for boiling food",
+    "Grab the hand-sized sauce can with the right arm and set it near the kitchenpot with smooth texture",
+    "Grab the hand-sized sauce can with the right arm and position it beside the metal cooking pot",
+    "Pick up the medium sauce can with white lid using the right arm, transfer it beside the pot with round lid",
+    "Lift the sauce can with glossy finish and set it beside the rounded pot with metal lid",
+    "Using the right arm, lift the cylindrical sauce can and place it by the metal cooking pot",
+    "Lift the rounded-edge sauce can and set it next to the gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can beside the metal cooking pot after picking it up",
+    "Take the brown and yellow cylindrical sauce can to the dark gray pot with side handles using the right arm",
+    "Pick the plastic lid sauce can up with the right arm then place near the metal cooking pot",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and drop it beside the medium-sized smooth gray cooking pot",
+    "Pick the hand-sized sauce can up and carefully position it beside the pot with round lid",
+    "Use the right arm to lift the round sauce can with yellow pattern, then move it next to the rounded pot with metal lid",
+    "Grab the sauce can with glossy finish, move it to the rounded pot with metal lid's side",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the round pot with dark gray knob",
+    "Lift the hand-sized sauce can and place it next to the kitchenpot used for cooking meals",
+    "Grab the sauce can with glossy finish with the right arm and move it close to the metal cooking pot"
+  ],
+  "unseen": [
+    "Use the right arm to grab the yellow label on sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Lift the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and move it near the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the smooth sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it near the metal pot with curved handles",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the yellow label on sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Lift the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the smooth sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Lift the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the smooth sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Use the right arm to grab the smooth sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Lift the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the smooth sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the smooth sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Lift the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the smooth sauce can, move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the smooth sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and move it near the cylindrical kitchenpot for cooking"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode8.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..887b21ca91549622d84475c97dd1559d62953fac
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cylindrical sauce can beside the gray kitchenpot after lifting it",
+    "Pick the sauce can with brown lid up and move it next to the cylindrical kitchenpot",
+    "Grab the yellow label sauce can, move it, and place by the metal kitchenpot",
+    "Use the right arm to pick the yellow label sauce can up and set it beside the cylindrical kitchenpot",
+    "Grab the sauce can for condiments and move it close to the kitchenpot for boiling and cooking",
+    "Pick up the printed label sauce can and put it beside the kitchenpot with smooth exterior",
+    "Take the printed label sauce can with the right arm, place it near the medium kitchenpot made of metal",
+    "Pick the printed label sauce can with the right arm and relocate it near the cylindrical kitchenpot",
+    "Grab the brown top sauce can with the right arm and position it beside the cylindrical kitchenpot",
+    "Bring the medium sauce can over and set it near the kitchenpot with smooth exterior",
+    "Pick up the brown top sauce can with the right arm and set by the dark gray stove kitchenpot",
+    "Grab the smooth cylindrical sauce can with the right arm and move it close to the metal kitchenpot",
+    "Grab the brown top sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Lift the printed label sauce can using the right arm and position it by the medium kitchenpot made of metal",
+    "Grab the medium sauce can, shift it, and place it close to the smooth gray kitchenpot",
+    "Use the right arm to grab the sauce can with brown lid, move it beside the cooking kitchenpot with side grips",
+    "Lift the metal sauce can and set it next to the round kitchenpot with handles",
+    "Take the sauce can for condiments to the cooking kitchenpot with side grips using the right arm",
+    "Place the medium sauce can next to the kitchenpot with smooth exterior",
+    "Set the brown top sauce can near the kitchenpot for boiling and cooking after picking it up",
+    "Pick up the yellow label sauce can using the right arm, transfer it beside the medium kitchenpot made of metal",
+    "Take the medium sauce can using the right arm, set it next to the gray cylindrical metal kitchenpot",
+    "Use the right arm to take the sauce can with ingredient information to the gray kitchenpot",
+    "Use the right arm to grab the sauce can with brown lid and transfer it near the cooking kitchenpot with side grips",
+    "Grab the cylindrical sauce can with the right arm and set it near the round kitchenpot with handles",
+    "Take the yellow and brown sauce can with the right arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Use the right arm to grab the sauce can for condiments and move it beside the dark gray stove kitchenpot",
+    "Use the right arm to move the sauce can with ingredient information beside the gray kitchenpot",
+    "Use the right arm to lift the yellow label sauce can, then move it next to the medium kitchenpot made of metal",
+    "With the right arm, grab the cylindrical sauce can and move to the kitchenpot with smooth exterior",
+    "Use the right arm to lift the sauce can for condiments and place it next to the cylindrical kitchenpot",
+    "Lift the yellow label sauce can and set it beside the round kitchenpot with handles",
+    "Lift the sauce can with ingredient information and set it next to the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the smooth gray kitchenpot after picking it up",
+    "Use the right arm to grab the sauce can with ingredient information and move it next to the metal kitchenpot",
+    "Move the metal sauce can from its spot to near the medium kitchenpot made of metal",
+    "Pick the metal sauce can up and carefully position it beside the cylindrical kitchenpot",
+    "Lift the brown top sauce can and move it near the metal kitchenpot",
+    "Use the right arm to pick the yellow and brown sauce can, position it near the dark gray stove kitchenpot",
+    "Use the right arm to lift the sauce can with brown lid and place it near the smooth gray kitchenpot",
+    "Move the medium sauce can to the gray cylindrical metal kitchenpot with the right arm",
+    "Using the right arm, lift the smooth cylindrical sauce can and place it by the smooth gray kitchenpot",
+    "Lift the yellow label sauce can, then place it next to the gray kitchenpot",
+    "Set the sauce can for condiments right next to the cylindrical kitchenpot",
+    "Lift the sauce can with ingredient information and place it next to the gray kitchenpot",
+    "Lift the printed label sauce can using the right arm and drop it beside the cooking kitchenpot with side grips",
+    "Pick the brown sauce can up with the right arm then place near the kitchenpot with smooth exterior",
+    "Move the sauce can with brown lid to be next to the medium-sized kitchenpot",
+    "Lift the smooth cylindrical sauce can, place it by the kitchenpot with smooth exterior",
+    "Pick the brown top sauce can and position it next to the round kitchenpot with handles",
+    "Move the sauce can with brown lid beside the cylindrical kitchenpot after lifting it",
+    "Pick the yellow and brown sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Grab the brown sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the right arm to pick the sauce can with brown lid up and set it beside the cylindrical kitchenpot",
+    "Grab the yellow label sauce can and move it close to the round kitchenpot with handles",
+    "Pick up the sauce can with brown lid and put it beside the dark gray stove kitchenpot",
+    "Take the sauce can with ingredient information with the right arm, place it near the cylindrical kitchenpot",
+    "Pick the sauce can with ingredient information with the right arm and relocate it near the dark gray stove kitchenpot",
+    "Grab the yellow and brown sauce can with the right arm and position it beside the round kitchenpot with handles",
+    "Bring the sauce can with brown lid over and set it near the metal kitchenpot",
+    "Pick up the yellow label sauce can with the right arm and set by the round kitchenpot with handles",
+    "Grab the sauce can with ingredient information with the right arm and move it close to the gray kitchenpot",
+    "Grab the medium sauce can, move it to the cooking kitchenpot with side grips's side",
+    "Lift the yellow label sauce can using the right arm and position it by the round kitchenpot with handles",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Use the right arm to grab the metal sauce can, move it beside the medium kitchenpot made of metal",
+    "Lift the smooth cylindrical sauce can and set it next to the round kitchenpot with handles",
+    "Take the smooth cylindrical sauce can to the gray kitchenpot using the right arm",
+    "Place the brown top sauce can next to the kitchenpot for boiling and cooking",
+    "Set the metal sauce can near the dark gray stove kitchenpot after picking it up",
+    "Pick up the sauce can with brown lid using the right arm, transfer it beside the smooth gray kitchenpot",
+    "Take the smooth cylindrical sauce can using the right arm, set it next to the gray kitchenpot",
+    "Use the right arm to take the sauce can with brown lid to the gray cylindrical metal kitchenpot",
+    "Use the right arm to grab the sauce can with brown lid and transfer it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with brown lid with the right arm and set it near the cylindrical kitchenpot",
+    "Take the yellow and brown sauce can with the right arm, bring it, and set next to the medium-sized kitchenpot",
+    "Use the right arm to grab the sauce can with ingredient information and move it beside the kitchenpot for boiling and cooking",
+    "Use the right arm to move the cylindrical sauce can beside the metal kitchenpot",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "With the right arm, grab the sauce can for condiments and move to the gray kitchenpot",
+    "Use the right arm to lift the sauce can for condiments and place it next to the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can and set it beside the round kitchenpot with handles",
+    "Lift the sauce can for condiments and set it next to the kitchenpot for boiling and cooking",
+    "Place the yellow label sauce can beside the kitchenpot with smooth exterior after picking it up",
+    "Use the right arm to grab the yellow and brown sauce can and move it next to the medium kitchenpot made of metal",
+    "Move the medium sauce can from its spot to near the kitchenpot for boiling and cooking",
+    "Pick the brown sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Lift the brown top sauce can and move it near the metal kitchenpot",
+    "Use the right arm to pick the printed label sauce can, position it near the medium-sized kitchenpot",
+    "Use the right arm to lift the sauce can with ingredient information and place it near the kitchenpot with smooth exterior",
+    "Move the smooth cylindrical sauce can to the medium kitchenpot made of metal with the right arm",
+    "Using the right arm, lift the sauce can for condiments and place it by the metal kitchenpot",
+    "Lift the yellow label sauce can, then place it next to the gray cylindrical metal kitchenpot",
+    "Set the metal sauce can right next to the medium-sized kitchenpot",
+    "Lift the printed label sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the kitchenpot for boiling and cooking",
+    "Pick the smooth cylindrical sauce can up with the right arm then place near the medium kitchenpot made of metal",
+    "Move the brown top sauce can to be next to the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with brown lid, place it by the medium kitchenpot made of metal",
+    "Pick the sauce can with brown lid and position it next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the metal body sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot with two side handles",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Lift the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Lift the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the gray kitchenpot with rounded edges",
+    "Lift the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/instructions/episode9.json b/move_can_pot/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..2900571928082a887f4bb29f005d45f312d9c55c
--- /dev/null
+++ b/move_can_pot/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the red and orange sauce can with the left arm and position it beside the medium-sized kitchenpot",
+    "Grab the metal body sauce can, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to take the red can with orange label to the metal kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the gray cylindrical metal kitchenpot",
+    "Move the small metal sauce container beside the kitchenpot with smooth exterior after lifting it",
+    "Pick up the small cylindrical sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Lift the metal body sauce can, then place it next to the smooth gray kitchenpot",
+    "Grab the sauce can with red lid, move it, and place by the round kitchenpot with handles",
+    "Grab the metal body sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the metal body sauce can, position it near the metal kitchenpot",
+    "Move the metal body sauce can to be next to the smooth gray kitchenpot",
+    "Use the left arm to grab the compact sauce can with plastic lid and move it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sturdy sauce can with glossy finish, move it beside the gray kitchenpot",
+    "Pick the sauce can with printed design up with the left arm then place near the dark gray stove kitchenpot",
+    "Use the left arm to move the sauce can with printed design beside the medium kitchenpot made of metal",
+    "Lift the sauce can with printed design and set it next to the smooth gray kitchenpot",
+    "Take the smooth sauce can with the left arm, bring it, and set next to the round kitchenpot with handles",
+    "Pick up the red and orange sauce can using the left arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the red and orange sauce can, then move it next to the cylindrical kitchenpot",
+    "Pick the compact sauce can with plastic lid up and move it next to the cylindrical kitchenpot",
+    "Lift the small cylindrical sauce can and move it near the medium-sized kitchenpot",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the medium-sized kitchenpot",
+    "Pick the sauce can with red lid up and carefully position it beside the medium-sized kitchenpot",
+    "Move the metal body sauce can to the dark gray stove kitchenpot with the left arm",
+    "With the left arm, grab the sturdy sauce can with glossy finish and move to the cooking kitchenpot with side grips",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the metal kitchenpot",
+    "Grab the small cylindrical sauce can with the left arm and set it near the medium kitchenpot made of metal",
+    "Lift the small metal sauce container and set it next to the kitchenpot for boiling and cooking",
+    "Grab the smooth sauce can and move it close to the round kitchenpot with handles",
+    "Bring the red and orange sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the dark gray stove kitchenpot",
+    "Move the metal body sauce can from its spot to near the smooth gray kitchenpot",
+    "Use the left arm to grab the smooth sauce can and move it beside the metal kitchenpot",
+    "Use the left arm to lift the sauce can with printed design and place it next to the kitchenpot for boiling and cooking",
+    "Set the small cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the gray cylindrical metal kitchenpot",
+    "Lift the metal body sauce can using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Lift the sauce can with red lid and set it beside the metal kitchenpot",
+    "Set the smooth sauce can right next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the smooth sauce can and place it by the medium kitchenpot made of metal",
+    "Pick the smooth sauce can and position it next to the dark gray stove kitchenpot",
+    "Use the left arm to pick the red and orange sauce can up and set it beside the metal kitchenpot",
+    "Take the sturdy sauce can with glossy finish to the kitchenpot with smooth exterior using the left arm",
+    "Lift the small metal sauce container, place it by the gray cylindrical metal kitchenpot",
+    "Place the sturdy sauce can with glossy finish next to the medium kitchenpot made of metal",
+    "Lift the sauce can with red lid using the left arm and drop it beside the kitchenpot with smooth exterior",
+    "Place the smooth sauce can beside the round kitchenpot with handles after picking it up",
+    "Take the smooth sauce can with the left arm, place it near the cylindrical kitchenpot",
+    "Grab the sturdy sauce can with glossy finish with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Take the compact sauce can with plastic lid using the left arm, set it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Grab the small metal sauce container, move it to the medium kitchenpot made of metal's side",
+    "Use the left arm to take the sauce can with red lid to the medium kitchenpot made of metal",
+    "Lift the sturdy sauce can with glossy finish and place it next to the dark gray stove kitchenpot",
+    "Move the smooth sauce can beside the kitchenpot with smooth exterior after lifting it",
+    "Pick up the smooth sauce can with the left arm and set by the cooking kitchenpot with side grips",
+    "Lift the small cylindrical sauce can, then place it next to the smooth gray kitchenpot",
+    "Grab the sauce can with rounded top cap, move it, and place by the cylindrical kitchenpot",
+    "Grab the metal body sauce can, shift it, and place it close to the gray cylindrical metal kitchenpot",
+    "Use the left arm to pick the small cylindrical sauce can, position it near the round kitchenpot with handles",
+    "Move the smooth sauce can to be next to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with rounded top cap and move it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with red lid, move it beside the cylindrical kitchenpot",
+    "Pick the red and orange sauce can up with the left arm then place near the cylindrical kitchenpot",
+    "Use the left arm to move the red and orange sauce can beside the kitchenpot with smooth exterior",
+    "Lift the sturdy sauce can with glossy finish and set it next to the kitchenpot for boiling and cooking",
+    "Take the smooth sauce can with the left arm, bring it, and set next to the medium-sized kitchenpot",
+    "Pick up the sauce can with rounded top cap using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to lift the red can with orange label, then move it next to the smooth gray kitchenpot",
+    "Pick the sturdy sauce can with glossy finish up and move it next to the metal kitchenpot",
+    "Lift the smooth sauce can and move it near the metal kitchenpot",
+    "Pick up the sauce can with red lid and put it beside the medium kitchenpot made of metal",
+    "Pick the red can with orange label up and carefully position it beside the cooking kitchenpot with side grips",
+    "Move the small metal sauce container to the cylindrical kitchenpot with the left arm",
+    "With the left arm, grab the smooth sauce can and move to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the sauce can with printed design and transfer it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with printed design with the left arm and set it near the kitchenpot for boiling and cooking",
+    "Lift the sauce can with rounded top cap and set it next to the smooth gray kitchenpot",
+    "Grab the small cylindrical sauce can and move it close to the smooth gray kitchenpot",
+    "Bring the small cylindrical sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to lift the metal body sauce can and place it near the gray kitchenpot",
+    "Move the small cylindrical sauce can from its spot to near the medium-sized kitchenpot",
+    "Use the left arm to grab the small cylindrical sauce can and move it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it next to the round kitchenpot with handles",
+    "Set the sauce can with printed design near the gray kitchenpot after picking it up",
+    "Pick the sauce can with red lid with the left arm and relocate it near the metal kitchenpot",
+    "Lift the sturdy sauce can with glossy finish using the left arm and position it by the medium-sized kitchenpot",
+    "Lift the small metal sauce container and set it beside the dark gray stove kitchenpot",
+    "Set the small cylindrical sauce can right next to the smooth gray kitchenpot",
+    "Using the left arm, lift the small metal sauce container and place it by the metal kitchenpot",
+    "Pick the metal body sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to pick the small metal sauce container up and set it beside the gray kitchenpot",
+    "Take the metal body sauce can to the kitchenpot for boiling and cooking using the left arm",
+    "Lift the sauce can with printed design, place it by the medium-sized kitchenpot",
+    "Place the compact sauce can with plastic lid next to the medium kitchenpot made of metal",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Place the sturdy sauce can with glossy finish beside the dark gray stove kitchenpot after picking it up",
+    "Take the sauce can with printed design with the left arm, place it near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with rounded top cap with the left arm and move it close to the cylindrical kitchenpot",
+    "Take the small metal sauce container using the left arm, set it next to the kitchenpot for boiling and cooking"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and move it near the dark gray cooking kitchenpot",
+    "Grab the red sauce can and place it near the kitchenpot with two side handles",
+    "Lift the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Pick up the red sauce can and move it near the kitchenpot with two side handles",
+    "Grab the red can with white text and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the red can with white text and place it by the gray kitchenpot with rounded edges",
+    "Pick up the red can with white text and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot with two side handles",
+    "Grab the red sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the red can with white text and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot with two side handles",
+    "Pick up the red sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the red can with white text and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the red can with white text and place it by the dark gray cooking kitchenpot",
+    "Pick up the red can with white text and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the dark gray cooking kitchenpot",
+    "Grab the red sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the red can with white text and move it near the dark gray cooking kitchenpot",
+    "Grab the red can with white text and place it near the dark gray cooking kitchenpot",
+    "Lift the red can with white text and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the red can with white text and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the red sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the red sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the gray kitchenpot with rounded edges",
+    "Grab the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Grab the red sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the red can with white text and place it near the kitchenpot with two side handles",
+    "Lift the red can with white text and set it beside the kitchenpot with two side handles",
+    "Pick up the red can with white text and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot with two side handles",
+    "Pick up the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot with two side handles",
+    "Grab the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Grab the red sauce can and move it near the kitchenpot with two side handles",
+    "Grab the red sauce can and place it near the kitchenpot with two side handles",
+    "Lift the sauce can with round ridged lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with round ridged lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with round ridged lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the red sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the red can with white text and move it near the dark gray cooking kitchenpot",
+    "Grab the red sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Pick up the red sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with round ridged lid and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the red sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the red sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the red can with white text and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with round ridged lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the red can with white text and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the kitchenpot with two side handles",
+    "Pick up the red can with white text and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the red sauce can and move it near the kitchenpot with two side handles",
+    "Grab the red can with white text and place it near the kitchenpot with two side handles",
+    "Lift the red can with white text and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the red can with white text and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the red sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot with two side handles",
+    "Grab the red can with white text and place it near the gray kitchenpot with rounded edges",
+    "Lift the red sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with round ridged lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the red sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the red can with white text and place it by the gray kitchenpot with rounded edges",
+    "Pick up the red can with white text and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the red can with white text, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the red sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the red can with white text and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with round ridged lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot with two side handles",
+    "Grab the red sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the red can with white text and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the dark gray cooking kitchenpot"
+  ]
+}
\ No newline at end of file
diff --git a/move_can_pot/demo_clean_ep20_vidar/scene_info.json b/move_can_pot/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..de40dd67ccf78bc843af5aca8841046c98dc4834
--- /dev/null
+++ b/move_can_pot/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}": "060_kitchenpot/base2",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base2",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base6",
+            "{B}": "105_sauce-can/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base1",
+            "{B}": "105_sauce-can/base5",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base4",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base5",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base0",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base4",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base1",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base4",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base5",
+            "{B}": "105_sauce-can/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base4",
+            "{B}": "105_sauce-can/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base4",
+            "{B}": "105_sauce-can/base2",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base3",
+            "{B}": "105_sauce-can/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base3",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base1",
+            "{B}": "105_sauce-can/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "060_kitchenpot/base2",
+            "{B}": "105_sauce-can/base0",
+            "{a}": "right"
+        }
+    }
+}
\ No newline at end of file
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@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, position the small car toy left of the phone with camera lens at back.",
+    "Put the toycar with black tires on the left side of the phone",
+    "Set the light teal toycar with white roof left of the phone with unique printed back pattern.",
+    "Place the toycar with white roof and teal body to rest left of the metal and glass smartphone using the right arm",
+    "Move the toycar with black tires to the left side of the smooth glass phone",
+    "Place the toycar with white roof and teal body directly to the left of the phone.",
+    "Use the right arm to move the miniature teal vehicle toy to the left of the smooth glass phone.",
+    "Put the toycar with glossy finish to the left of the rectangular glossy phone with dark color",
+    "Use the right arm to position the compact teal toycar left of the phone with printed back design",
+    "Stick the small car toy on the left of the rectangular glossy phone with dark color",
+    "Move the toycar with white roof and teal body to the left of the phone.",
+    "Move the light teal toycar with white roof to the left of the medium-sized handheld phone.",
+    "Carefully position the toycar with glossy finish to the left of the dark brown phone with smooth surface.",
+    "Using the right arm, place the small car toy on the left of the rectangular phone",
+    "With the right arm, move the light teal toycar with white roof to the left side of the brown and gray multimedia phone.",
+    "Use the right arm to move the small teal plastic car with windows to the dark brown phone with smooth surface's left",
+    "Grab the miniature teal vehicle toy with the right arm and set left of the rectangular glossy phone with dark color",
+    "Grab the mini car toy using the right arm and place it left of the rectangular glossy phone with dark color.",
+    "With the right arm, stick the play car in teal and white left of the brown and gray multimedia phone",
+    "Position the rounded teal car toy to the left of the phone with printed back design",
+    "With the right arm, place the toycar with glossy finish left of the dark brown phone with smooth surface",
+    "With the right arm, position the mini car toy left of the phone with unique printed back pattern",
+    "Using the right arm, set the toycar with black tires to the left of the brown phone with gray details.",
+    "Place the miniature teal vehicle toy carefully to the phone's left",
+    "Place the small teal plastic car with windows left of the dark brown phone with smooth surface using the right arm",
+    "Place the toycar with black tires exactly to the left of the phone with unique printed back pattern",
+    "Use the right arm and place the small car toy left of the brown phone with gray details.",
+    "Use the right arm to set the toycar with black tires left of the phone",
+    "Place the smooth teal car on the left of the smooth glass phone.",
+    "Using the right arm, move the light teal toycar with white roof left of the metal and glass smartphone.",
+    "Place the toycar with black tires left of the brown and gray multimedia phone using the right arm",
+    "Position the small teal plastic car with windows to the left of the rectangular glossy phone with dark color.",
+    "Use the right arm to put the compact teal toycar left of the medium-sized handheld phone",
+    "Set the light teal toycar with white roof on the left side of the rectangular phone.",
+    "Shift the small car toy leftward to the side of the phone with camera lens at back",
+    "Grab the small car toy with the right arm and shift it left of the brown and gray multimedia phone.",
+    "Using the right arm, put the toycar with white roof and teal body on left of the phone with unique printed back pattern",
+    "Drop the play car in teal and white to the left of the metal and glass smartphone",
+    "Position the small car toy carefully to the left of the medium-sized handheld phone.",
+    "Set the miniature teal vehicle toy directly to the left of the rectangular glossy phone with dark color",
+    "Drop the small teal plastic car with windows on the left side of the phone with unique printed back pattern",
+    "Use the right arm, move the play car in teal and white left of the smooth glass phone",
+    "With the right arm, set the smooth teal car on the left of the phone with printed back design.",
+    "Grab the toycar with white roof and teal body using the right arm and place left of the metal and glass smartphone.",
+    "Set the mini car toy carefully on the left of the phone with camera lens at back",
+    "Set the rounded teal car toy to the left of the dark brown phone with smooth surface",
+    "Grab the miniature teal vehicle toy using the right arm and move left of the brown and gray multimedia phone",
+    "Shift the small teal plastic car with windows and position it left of the phone.",
+    "Adjust the small teal plastic car with windows to rest on the phone with camera lens at back's left",
+    "Move the small teal plastic car with windows to the left of the phone with camera lens at back",
+    "With the right arm, position the miniature teal vehicle toy left of the metal and glass smartphone.",
+    "Put the play car in teal and white on the left side of the phone with camera lens at back",
+    "Set the miniature teal vehicle toy left of the phone with camera lens at back.",
+    "Place the compact teal toycar to rest left of the rectangular phone using the right arm",
+    "Move the toycar with white roof and teal body to the left side of the rectangular glossy phone with dark color",
+    "Place the smooth teal car directly to the left of the dark brown phone with smooth surface.",
+    "Use the right arm to move the play car in teal and white to the left of the brown and gray multimedia phone.",
+    "Put the small teal plastic car with windows to the left of the phone",
+    "Use the right arm to position the smooth teal car left of the dark brown phone with smooth surface",
+    "Stick the rounded teal car toy on the left of the rectangular glossy phone with dark color",
+    "Move the small teal plastic car with windows to the left of the phone with unique printed back pattern.",
+    "Move the small teal plastic car with windows to the left of the rectangular phone.",
+    "Carefully position the rounded teal car toy to the left of the phone.",
+    "Using the right arm, place the small teal plastic car with windows on the left of the dark brown phone with smooth surface",
+    "With the right arm, move the mini car toy to the left side of the medium-sized handheld phone.",
+    "Use the right arm to move the miniature teal vehicle toy to the brown and gray multimedia phone's left",
+    "Grab the compact teal toycar with the right arm and set left of the brown phone with gray details",
+    "Grab the small teal plastic car with windows using the right arm and place it left of the brown and gray multimedia phone.",
+    "With the right arm, stick the mini car toy left of the rectangular glossy phone with dark color",
+    "Position the small car toy to the left of the phone with camera lens at back",
+    "With the right arm, place the mini car toy left of the phone",
+    "With the right arm, position the toycar with glossy finish left of the rectangular phone",
+    "Using the right arm, set the smooth teal car to the left of the medium-sized handheld phone.",
+    "Place the rounded teal car toy carefully to the dark brown phone with smooth surface's left",
+    "Place the light teal toycar with white roof left of the smooth glass phone using the right arm",
+    "Place the toycar with white roof and teal body exactly to the left of the brown and gray multimedia phone",
+    "Use the right arm and place the toycar with glossy finish left of the rectangular glossy phone with dark color.",
+    "Use the right arm to set the small teal plastic car with windows left of the smooth glass phone",
+    "Place the miniature teal vehicle toy on the left of the brown and gray multimedia phone.",
+    "Using the right arm, move the light teal toycar with white roof left of the rectangular glossy phone with dark color.",
+    "Place the small car toy left of the rectangular glossy phone with dark color using the right arm",
+    "Position the small car toy to the left of the brown and gray multimedia phone.",
+    "Use the right arm to put the compact teal toycar left of the rectangular phone",
+    "Set the play car in teal and white on the left side of the brown and gray multimedia phone.",
+    "Shift the smooth teal car leftward to the side of the phone with unique printed back pattern",
+    "Grab the toycar with glossy finish with the right arm and shift it left of the phone with camera lens at back.",
+    "Using the right arm, put the small teal plastic car with windows on left of the rectangular phone",
+    "Drop the compact teal toycar to the left of the phone with unique printed back pattern",
+    "Position the small car toy carefully to the left of the phone with unique printed back pattern.",
+    "Set the toycar with black tires directly to the left of the medium-sized handheld phone",
+    "Drop the small teal plastic car with windows on the left side of the phone",
+    "Use the right arm, move the play car in teal and white left of the phone with printed back design",
+    "With the right arm, set the toycar with glossy finish on the left of the dark brown phone with smooth surface.",
+    "Grab the rounded teal car toy using the right arm and place left of the phone with camera lens at back.",
+    "Set the toycar with white roof and teal body carefully on the left of the smooth glass phone",
+    "Set the toycar with black tires to the left of the phone with camera lens at back",
+    "Grab the mini car toy using the right arm and move left of the metal and glass smartphone",
+    "Shift the toycar with white roof and teal body and position it left of the dark brown phone with smooth surface.",
+    "Adjust the miniature teal vehicle toy to rest on the phone with camera lens at back's left",
+    "Move the small car toy to the left of the metal and glass smartphone"
+  ],
+  "unseen": [
+    "Use the right arm to put the plastic teal car with wheels left of the dark phone with shiny finish.",
+    "Use the right arm to place the teal toycar left of the phone with flat rectangular back.",
+    "Set the plastic toycar with four spinning wheels to the left of the flat-edged rectangular phone",
+    "Position the plastic toycar with four spinning wheels on the left of the phone with flat rectangular back",
+    "Set the plastic toycar with four spinning wheels down to the left of the phone with flat rectangular back",
+    "Grab the teal toycar and place left of the dark phone with shiny finish",
+    "Pick the teal toycar and set it left of the dark phone with shiny finish.",
+    "Set the plastic toycar with four spinning wheels on the left side of the phone with flat rectangular back.",
+    "Set the plastic teal car with wheels on the left side of the dark phone with shiny finish",
+    "Place the plastic toycar with four spinning wheels to the left of the dark phone with shiny finish using the right arm",
+    "Use the right arm to put the plastic toycar with four spinning wheels left of the dark phone with shiny finish.",
+    "Use the right arm to place the plastic toycar with four spinning wheels left of the flat-edged rectangular phone.",
+    "Set the teal toycar to the left of the flat-edged rectangular phone",
+    "Position the teal toycar on the left of the dark phone with shiny finish",
+    "Set the plastic teal car with wheels down to the left of the flat-edged rectangular phone",
+    "Grab the teal toycar and place left of the flat-edged rectangular phone",
+    "Pick the plastic toycar with four spinning wheels and set it left of the flat-edged rectangular phone.",
+    "Set the plastic toycar with four spinning wheels on the left side of the flat-edged rectangular phone.",
+    "Set the plastic toycar with four spinning wheels on the left side of the flat-edged rectangular phone",
+    "Place the teal toycar to the left of the dark phone with shiny finish using the right arm",
+    "Use the right arm to put the plastic toycar with four spinning wheels left of the phone with flat rectangular back.",
+    "Use the right arm to place the teal toycar left of the flat-edged rectangular phone.",
+    "Set the plastic toycar with four spinning wheels to the left of the flat-edged rectangular phone",
+    "Position the plastic teal car with wheels on the left of the flat-edged rectangular phone",
+    "Set the plastic teal car with wheels down to the left of the dark phone with shiny finish",
+    "Grab the plastic teal car with wheels and place left of the flat-edged rectangular phone",
+    "Pick the teal toycar and set it left of the dark phone with shiny finish.",
+    "Set the teal toycar on the left side of the dark phone with shiny finish.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back",
+    "Place the plastic teal car with wheels to the left of the dark phone with shiny finish using the right arm",
+    "Use the right arm to put the teal toycar left of the dark phone with shiny finish.",
+    "Use the right arm to place the teal toycar left of the phone with flat rectangular back.",
+    "Set the plastic teal car with wheels to the left of the phone with flat rectangular back",
+    "Position the plastic toycar with four spinning wheels on the left of the phone with flat rectangular back",
+    "Set the teal toycar down to the left of the dark phone with shiny finish",
+    "Grab the plastic toycar with four spinning wheels and place left of the dark phone with shiny finish",
+    "Pick the plastic teal car with wheels and set it left of the dark phone with shiny finish.",
+    "Set the plastic teal car with wheels on the left side of the flat-edged rectangular phone.",
+    "Set the plastic toycar with four spinning wheels on the left side of the phone with flat rectangular back",
+    "Place the plastic toycar with four spinning wheels to the left of the phone with flat rectangular back using the right arm",
+    "Use the right arm to put the teal toycar left of the phone with flat rectangular back.",
+    "Use the right arm to place the teal toycar left of the flat-edged rectangular phone.",
+    "Set the teal toycar to the left of the dark phone with shiny finish",
+    "Position the plastic toycar with four spinning wheels on the left of the flat-edged rectangular phone",
+    "Set the teal toycar down to the left of the flat-edged rectangular phone",
+    "Grab the teal toycar and place left of the phone with flat rectangular back",
+    "Pick the plastic teal car with wheels and set it left of the phone with flat rectangular back.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back.",
+    "Set the teal toycar on the left side of the dark phone with shiny finish",
+    "Place the teal toycar to the left of the dark phone with shiny finish using the right arm",
+    "Use the right arm to put the plastic teal car with wheels left of the phone with flat rectangular back.",
+    "Use the right arm to place the teal toycar left of the flat-edged rectangular phone.",
+    "Set the plastic teal car with wheels to the left of the phone with flat rectangular back",
+    "Position the teal toycar on the left of the dark phone with shiny finish",
+    "Set the plastic teal car with wheels down to the left of the dark phone with shiny finish",
+    "Grab the plastic toycar with four spinning wheels and place left of the phone with flat rectangular back",
+    "Pick the teal toycar and set it left of the dark phone with shiny finish.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back",
+    "Place the plastic toycar with four spinning wheels to the left of the dark phone with shiny finish using the right arm",
+    "Use the right arm to put the plastic toycar with four spinning wheels left of the phone with flat rectangular back.",
+    "Use the right arm to place the plastic teal car with wheels left of the flat-edged rectangular phone.",
+    "Set the plastic teal car with wheels to the left of the flat-edged rectangular phone",
+    "Position the teal toycar on the left of the flat-edged rectangular phone",
+    "Set the teal toycar down to the left of the phone with flat rectangular back",
+    "Grab the plastic toycar with four spinning wheels and place left of the flat-edged rectangular phone",
+    "Pick the teal toycar and set it left of the phone with flat rectangular back.",
+    "Set the teal toycar on the left side of the dark phone with shiny finish.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back",
+    "Place the plastic teal car with wheels to the left of the flat-edged rectangular phone using the right arm",
+    "Use the right arm to put the plastic teal car with wheels left of the dark phone with shiny finish.",
+    "Use the right arm to place the plastic teal car with wheels left of the dark phone with shiny finish.",
+    "Set the teal toycar to the left of the flat-edged rectangular phone",
+    "Position the plastic teal car with wheels on the left of the phone with flat rectangular back",
+    "Set the teal toycar down to the left of the dark phone with shiny finish",
+    "Grab the plastic teal car with wheels and place left of the dark phone with shiny finish",
+    "Pick the plastic toycar with four spinning wheels and set it left of the dark phone with shiny finish.",
+    "Set the plastic teal car with wheels on the left side of the phone with flat rectangular back.",
+    "Set the plastic teal car with wheels on the left side of the dark phone with shiny finish",
+    "Place the teal toycar to the left of the flat-edged rectangular phone using the right arm",
+    "Use the right arm to put the plastic teal car with wheels left of the phone with flat rectangular back.",
+    "Use the right arm to place the teal toycar left of the flat-edged rectangular phone.",
+    "Set the plastic teal car with wheels to the left of the flat-edged rectangular phone",
+    "Position the plastic teal car with wheels on the left of the dark phone with shiny finish",
+    "Set the teal toycar down to the left of the dark phone with shiny finish",
+    "Grab the plastic teal car with wheels and place left of the dark phone with shiny finish",
+    "Pick the plastic toycar with four spinning wheels and set it left of the phone with flat rectangular back.",
+    "Set the plastic teal car with wheels on the left side of the flat-edged rectangular phone.",
+    "Set the plastic teal car with wheels on the left side of the flat-edged rectangular phone",
+    "Place the plastic toycar with four spinning wheels to the left of the flat-edged rectangular phone using the right arm",
+    "Use the right arm to put the plastic toycar with four spinning wheels left of the flat-edged rectangular phone.",
+    "Use the right arm to place the teal toycar left of the phone with flat rectangular back.",
+    "Set the teal toycar to the left of the flat-edged rectangular phone",
+    "Position the plastic teal car with wheels on the left of the dark phone with shiny finish",
+    "Set the plastic teal car with wheels down to the left of the phone with flat rectangular back",
+    "Grab the plastic teal car with wheels and place left of the flat-edged rectangular phone",
+    "Pick the teal toycar and set it left of the dark phone with shiny finish.",
+    "Set the teal toycar on the left side of the flat-edged rectangular phone.",
+    "Set the teal toycar on the left side of the phone with flat rectangular back",
+    "Place the plastic teal car with wheels to the left of the dark phone with shiny finish using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode1.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..155bc35bf83c281ed547796d2c50591690a8b3e0
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the small playingcards pack carefully on the left of the solid soap in light yellow",
+    "Place the compact red playingcards pack left of the hand-sized soap using the left arm",
+    "Place the glossy rectangular playingcards box left of the yellow soap using the left arm",
+    "Position the playingcards box with white accents to the left of the yellow soap with smooth surface.",
+    "Move the box for playingcards to the left side of the yellow soap with smooth surface",
+    "Grab the compact red playingcards pack using the left arm and place left of the rectangular soap with rounded edges.",
+    "Use the left arm to position the playingcards storage box left of the soap with rounded corners",
+    "Shift the yellow and red playingcards box and position it left of the yellow soap bar for cleaning.",
+    "With the left arm, position the red playingcards box left of the yellow soap with smooth surface",
+    "Put the red playingcards box on the left side of the yellow soap bar for cleaning",
+    "Place the compact red playingcards pack on the left of the solid soap in light yellow.",
+    "Move the small playingcards pack to the left of the solid yellow soap bar.",
+    "Use the left arm to move the red and yellow playingcards case to the left of the yellow soap with smooth surface.",
+    "Drop the box for playingcards on the left side of the solid yellow soap bar",
+    "With the left arm, move the smooth playingcards pack to the left side of the yellow soap bar for cleaning.",
+    "Using the left arm, move the playingcards storage box left of the smooth yellow rectangular soap bar.",
+    "Use the left arm and place the red and yellow playingcards case left of the yellow soap bar for cleaning.",
+    "Set the hand-sized playingcards container left of the soap bar in pale yellow.",
+    "Using the left arm, place the small playingcards pack on the left of the soap with rounded corners",
+    "Move the red playingcards box to the left of the hand-sized soap.",
+    "Using the left arm, set the rectangular playingcards case to the left of the soap with rounded corners.",
+    "Set the playingcards storage box on the left side of the solid soap in light yellow.",
+    "Using the left arm, put the playingcards storage box on left of the rectangular soap",
+    "With the left arm, set the glossy rectangular playingcards box on the left of the yellow soap.",
+    "Use the left arm to set the small playingcards pack left of the yellow soap bar for cleaning",
+    "With the left arm, place the red playingcards box left of the yellow soap with smooth surface",
+    "Set the compact red playingcards pack directly to the left of the hand-sized soap",
+    "Position the red and yellow playingcards case to the left of the yellow soap bar for cleaning",
+    "Use the left arm to move the red playingcards box to the rectangular soap's left",
+    "Carefully position the playingcards box with white accents to the left of the soap with rounded corners.",
+    "Grab the glossy rectangular playingcards box with the left arm and shift it left of the solid soap in light yellow.",
+    "With the left arm, stick the red and yellow playingcards case left of the hand-sized soap",
+    "Position the glossy rectangular playingcards box carefully to the left of the yellow soap with smooth surface.",
+    "Adjust the smooth playingcards pack to rest on the soap bar in pale yellow's left",
+    "Grab the red and yellow playingcards case using the left arm and place it left of the smooth yellow rectangular soap bar.",
+    "Place the small playingcards pack to rest left of the soap with rounded corners using the left arm",
+    "Place the red and yellow playingcards case exactly to the left of the solid soap in light yellow",
+    "Place the playingcards storage box carefully to the soap bar in pale yellow's left",
+    "With the left arm, position the red and yellow playingcards case left of the palm-sized rectangular soap.",
+    "Use the left arm to put the rectangular playingcards case left of the soap with rounded corners",
+    "Use the left arm, move the hand-sized playingcards container left of the palm-sized rectangular soap",
+    "Stick the playingcards storage box on the left of the hand-sized soap",
+    "Shift the smooth playingcards pack leftward to the side of the yellow soap bar for cleaning",
+    "Place the yellow and red playingcards box directly to the left of the solid soap in light yellow.",
+    "Grab the yellow and red playingcards box with the left arm and set left of the smooth yellow rectangular soap bar",
+    "Set the playingcards box with white accents to the left of the yellow soap bar for cleaning",
+    "Drop the glossy rectangular playingcards box to the left of the yellow soap",
+    "Grab the red and yellow playingcards case using the left arm and move left of the smooth yellow rectangular soap bar",
+    "Move the glossy rectangular playingcards box to the left of the soap bar in pale yellow",
+    "Put the yellow and red playingcards box to the left of the yellow soap",
+    "Set the box for playingcards carefully on the left of the yellow soap bar for cleaning",
+    "Place the red playingcards box left of the palm-sized rectangular soap using the left arm",
+    "Place the hand-sized playingcards container left of the yellow soap bar for cleaning using the left arm",
+    "Position the small playingcards pack to the left of the palm-sized rectangular soap.",
+    "Move the glossy rectangular playingcards box to the left side of the hand-sized soap",
+    "Grab the glossy rectangular playingcards box using the left arm and place left of the rectangular soap.",
+    "Use the left arm to position the small playingcards pack left of the palm-sized rectangular soap",
+    "Shift the glossy rectangular playingcards box and position it left of the yellow soap bar for cleaning.",
+    "With the left arm, position the glossy rectangular playingcards box left of the yellow soap bar for cleaning",
+    "Put the red and yellow playingcards case on the left side of the solid yellow soap bar",
+    "Place the red playingcards box on the left of the soap with rounded corners.",
+    "Move the playingcards storage box to the left of the hand-sized soap.",
+    "Use the left arm to move the box for playingcards to the left of the palm-sized rectangular soap.",
+    "Drop the box for playingcards on the left side of the rectangular soap with rounded edges",
+    "With the left arm, move the red playingcards box to the left side of the rectangular soap with rounded edges.",
+    "Using the left arm, move the playingcards storage box left of the smooth yellow rectangular soap bar.",
+    "Use the left arm and place the yellow and red playingcards box left of the solid soap in light yellow.",
+    "Set the rectangular playingcards case left of the yellow soap.",
+    "Using the left arm, place the yellow and red playingcards box on the left of the palm-sized rectangular soap",
+    "Move the glossy rectangular playingcards box to the left of the solid yellow soap bar.",
+    "Using the left arm, set the hand-sized playingcards container to the left of the solid yellow soap bar.",
+    "Set the compact red playingcards pack on the left side of the yellow soap bar for cleaning.",
+    "Using the left arm, put the smooth playingcards pack on left of the solid soap in light yellow",
+    "With the left arm, set the rectangular playingcards case on the left of the palm-sized rectangular soap.",
+    "Use the left arm to set the yellow and red playingcards box left of the soap with rounded corners",
+    "With the left arm, place the glossy rectangular playingcards box left of the palm-sized rectangular soap",
+    "Set the yellow and red playingcards box directly to the left of the solid soap in light yellow",
+    "Position the box for playingcards to the left of the hand-sized soap",
+    "Use the left arm to move the playingcards storage box to the yellow soap's left",
+    "Carefully position the rectangular playingcards case to the left of the hand-sized soap.",
+    "Grab the glossy rectangular playingcards box with the left arm and shift it left of the yellow soap with smooth surface.",
+    "With the left arm, stick the small playingcards pack left of the solid yellow soap bar",
+    "Position the smooth playingcards pack carefully to the left of the smooth yellow rectangular soap bar.",
+    "Adjust the playingcards box with white accents to rest on the yellow soap with smooth surface's left",
+    "Grab the playingcards storage box using the left arm and place it left of the smooth yellow rectangular soap bar.",
+    "Place the smooth playingcards pack to rest left of the yellow soap with smooth surface using the left arm",
+    "Place the red playingcards box exactly to the left of the yellow soap",
+    "Place the small playingcards pack carefully to the rectangular soap with rounded edges's left",
+    "With the left arm, position the small playingcards pack left of the rectangular soap with rounded edges.",
+    "Use the left arm to put the red playingcards box left of the yellow soap",
+    "Use the left arm, move the yellow and red playingcards box left of the solid yellow soap bar",
+    "Stick the hand-sized playingcards container on the left of the solid soap in light yellow",
+    "Shift the red playingcards box leftward to the side of the solid soap in light yellow",
+    "Place the box for playingcards directly to the left of the hand-sized soap.",
+    "Grab the rectangular playingcards case with the left arm and set left of the soap with rounded corners",
+    "Set the yellow and red playingcards box to the left of the yellow soap with smooth surface",
+    "Drop the playingcards storage box to the left of the hand-sized soap",
+    "Grab the compact red playingcards pack using the left arm and move left of the hand-sized soap",
+    "Move the playingcards box with white accents to the left of the hand-sized soap",
+    "Put the red playingcards box to the left of the yellow soap"
+  ],
+  "unseen": [
+    "Use the left arm to place the small box for playingcards left of the smooth soap.",
+    "Set the small box for playingcards down to the left of the smooth soap",
+    "Set the rectangular red playingcards holder on the left side of the light yellow cleaning soap.",
+    "Set the small box for playingcards to the left of the light yellow soap for hygiene",
+    "Use the left arm to put the playingcards with red packaging left of the light yellow cleaning soap.",
+    "Place the playingcards with red packaging to the left of the light yellow cleaning soap using the left arm",
+    "Position the small box for playingcards on the left of the light yellow cleaning soap",
+    "Pick the small box for playingcards and set it left of the light yellow cleaning soap.",
+    "Grab the small box for playingcards and place left of the light yellow cleaning soap",
+    "Set the playingcards with red packaging on the left side of the smooth soap",
+    "Use the left arm to place the small box for playingcards left of the light yellow cleaning soap.",
+    "Set the playingcards with red packaging down to the left of the light yellow cleaning soap",
+    "Set the playingcards with red packaging on the left side of the smooth soap.",
+    "Set the playingcards with red packaging to the left of the smooth soap",
+    "Use the left arm to put the rectangular red playingcards holder left of the light yellow soap for hygiene.",
+    "Place the small box for playingcards to the left of the light yellow cleaning soap using the left arm",
+    "Position the rectangular red playingcards holder on the left of the smooth soap",
+    "Pick the playingcards with red packaging and set it left of the light yellow cleaning soap.",
+    "Grab the playingcards with red packaging and place left of the light yellow soap for hygiene",
+    "Set the playingcards with red packaging on the left side of the light yellow soap for hygiene",
+    "Use the left arm to place the small box for playingcards left of the light yellow cleaning soap.",
+    "Set the small box for playingcards down to the left of the smooth soap",
+    "Set the small box for playingcards on the left side of the light yellow cleaning soap.",
+    "Set the playingcards with red packaging to the left of the light yellow cleaning soap",
+    "Use the left arm to put the playingcards with red packaging left of the light yellow cleaning soap.",
+    "Place the rectangular red playingcards holder to the left of the light yellow soap for hygiene using the left arm",
+    "Position the rectangular red playingcards holder on the left of the smooth soap",
+    "Pick the rectangular red playingcards holder and set it left of the smooth soap.",
+    "Grab the small box for playingcards and place left of the light yellow cleaning soap",
+    "Set the rectangular red playingcards holder on the left side of the smooth soap",
+    "Use the left arm to place the playingcards with red packaging left of the smooth soap.",
+    "Set the small box for playingcards down to the left of the smooth soap",
+    "Set the rectangular red playingcards holder on the left side of the light yellow cleaning soap.",
+    "Set the playingcards with red packaging to the left of the light yellow soap for hygiene",
+    "Use the left arm to put the rectangular red playingcards holder left of the light yellow cleaning soap.",
+    "Place the playingcards with red packaging to the left of the light yellow soap for hygiene using the left arm",
+    "Position the playingcards with red packaging on the left of the light yellow cleaning soap",
+    "Pick the small box for playingcards and set it left of the smooth soap.",
+    "Grab the small box for playingcards and place left of the light yellow soap for hygiene",
+    "Set the playingcards with red packaging on the left side of the light yellow soap for hygiene",
+    "Use the left arm to place the playingcards with red packaging left of the smooth soap.",
+    "Set the small box for playingcards down to the left of the smooth soap",
+    "Set the small box for playingcards on the left side of the light yellow soap for hygiene.",
+    "Set the rectangular red playingcards holder to the left of the smooth soap",
+    "Use the left arm to put the small box for playingcards left of the light yellow cleaning soap.",
+    "Place the playingcards with red packaging to the left of the smooth soap using the left arm",
+    "Position the playingcards with red packaging on the left of the light yellow cleaning soap",
+    "Pick the playingcards with red packaging and set it left of the light yellow cleaning soap.",
+    "Grab the playingcards with red packaging and place left of the smooth soap",
+    "Set the playingcards with red packaging on the left side of the light yellow cleaning soap",
+    "Use the left arm to place the small box for playingcards left of the smooth soap.",
+    "Set the rectangular red playingcards holder down to the left of the smooth soap",
+    "Set the small box for playingcards on the left side of the smooth soap.",
+    "Set the rectangular red playingcards holder to the left of the smooth soap",
+    "Use the left arm to put the playingcards with red packaging left of the light yellow soap for hygiene.",
+    "Place the playingcards with red packaging to the left of the light yellow soap for hygiene using the left arm",
+    "Position the small box for playingcards on the left of the light yellow cleaning soap",
+    "Pick the small box for playingcards and set it left of the smooth soap.",
+    "Grab the rectangular red playingcards holder and place left of the smooth soap",
+    "Set the playingcards with red packaging on the left side of the smooth soap",
+    "Use the left arm to place the playingcards with red packaging left of the light yellow cleaning soap.",
+    "Set the small box for playingcards down to the left of the light yellow cleaning soap",
+    "Set the rectangular red playingcards holder on the left side of the smooth soap.",
+    "Set the rectangular red playingcards holder to the left of the light yellow cleaning soap",
+    "Use the left arm to put the small box for playingcards left of the light yellow cleaning soap.",
+    "Place the small box for playingcards to the left of the light yellow cleaning soap using the left arm",
+    "Position the playingcards with red packaging on the left of the light yellow soap for hygiene",
+    "Pick the rectangular red playingcards holder and set it left of the light yellow soap for hygiene.",
+    "Grab the small box for playingcards and place left of the smooth soap",
+    "Set the rectangular red playingcards holder on the left side of the light yellow cleaning soap",
+    "Use the left arm to place the rectangular red playingcards holder left of the light yellow cleaning soap.",
+    "Set the playingcards with red packaging down to the left of the light yellow soap for hygiene",
+    "Set the small box for playingcards on the left side of the light yellow soap for hygiene.",
+    "Set the playingcards with red packaging to the left of the light yellow cleaning soap",
+    "Use the left arm to put the small box for playingcards left of the smooth soap.",
+    "Place the playingcards with red packaging to the left of the light yellow soap for hygiene using the left arm",
+    "Position the playingcards with red packaging on the left of the light yellow cleaning soap",
+    "Pick the rectangular red playingcards holder and set it left of the smooth soap.",
+    "Grab the rectangular red playingcards holder and place left of the smooth soap",
+    "Set the playingcards with red packaging on the left side of the light yellow soap for hygiene",
+    "Use the left arm to place the playingcards with red packaging left of the smooth soap.",
+    "Set the rectangular red playingcards holder down to the left of the light yellow soap for hygiene",
+    "Set the small box for playingcards on the left side of the light yellow soap for hygiene.",
+    "Set the playingcards with red packaging to the left of the light yellow soap for hygiene",
+    "Use the left arm to put the rectangular red playingcards holder left of the light yellow cleaning soap.",
+    "Place the playingcards with red packaging to the left of the light yellow soap for hygiene using the left arm",
+    "Position the rectangular red playingcards holder on the left of the light yellow cleaning soap",
+    "Pick the small box for playingcards and set it left of the smooth soap.",
+    "Grab the playingcards with red packaging and place left of the smooth soap",
+    "Set the playingcards with red packaging on the left side of the light yellow soap for hygiene",
+    "Use the left arm to place the playingcards with red packaging left of the smooth soap.",
+    "Set the playingcards with red packaging down to the left of the light yellow soap for hygiene",
+    "Set the playingcards with red packaging on the left side of the light yellow cleaning soap.",
+    "Set the rectangular red playingcards holder to the left of the smooth soap",
+    "Use the left arm to put the playingcards with red packaging left of the light yellow soap for hygiene.",
+    "Place the playingcards with red packaging to the left of the light yellow soap for hygiene using the left arm",
+    "Position the playingcards with red packaging on the left of the light yellow soap for hygiene",
+    "Pick the small box for playingcards and set it left of the light yellow cleaning soap.",
+    "Grab the rectangular red playingcards holder and place left of the light yellow soap for hygiene",
+    "Set the playingcards with red packaging on the left side of the smooth soap"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode10.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa00ccc6dda0f391e67a0739245768eaabda3c5
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the mouse with two buttons and wheel using the left arm and place it left of the solid brown cleaning soap.",
+    "With the left arm, position the gray mouse with smooth surface left of the dark soap bar",
+    "Grab the compact oval-shaped mouse using the left arm and move left of the rectangular soap with rounded edges",
+    "Position the gray mouse with smooth surface to the left of the rounded bar of dark soap",
+    "Put the gray mouse with smooth surface to the left of the soap with tan specks",
+    "Use the left arm to put the compact oval-shaped mouse left of the soap with tan specks",
+    "Using the left arm, put the dark gray mouse on left of the cleaning soap with spotted texture",
+    "With the left arm, stick the dark mouse with logo on top left of the smooth soap with grainy spots",
+    "Using the left arm, set the palm-fitting mouse to the left of the grainy brown soap.",
+    "Use the left arm to move the compact oval-shaped mouse to the smooth soap with grainy spots's left",
+    "Move the mouse with sleek design to the left side of the rounded bar of dark soap",
+    "Grab the gray mouse with smooth surface with the left arm and shift it left of the solid brown cleaning soap.",
+    "Set the dark mouse with logo on top on the left side of the small dark cleaning soap.",
+    "With the left arm, place the dark gray mouse left of the dark brown hand-sized soap",
+    "Use the left arm to set the dark mouse with logo on top left of the dark brown hand-sized soap",
+    "Use the left arm and place the dark gray mouse left of the rounded bar of dark soap.",
+    "Adjust the dark mouse with logo on top to rest on the grainy brown soap's left",
+    "Place the mouse with sleek design directly to the left of the dark brown hand-sized soap.",
+    "Place the mouse with sleek design carefully to the small dark cleaning soap's left",
+    "With the left arm, position the mouse for cursor control left of the rectangular soap with rounded edges.",
+    "Use the left arm to position the rounded gray mouse left of the small dark cleaning soap",
+    "Place the mouse with sleek design left of the soap with tan specks using the left arm",
+    "With the left arm, set the rounded gray mouse on the left of the small dark cleaning soap.",
+    "Shift the gray mouse with smooth surface and position it left of the smooth soap with grainy spots.",
+    "Move the rounded gray mouse to the left of the soap bar with curved edges",
+    "Drop the palm-fitting mouse on the left side of the dark brown hand-sized soap",
+    "Place the rounded gray mouse left of the soap with uneven tan grains using the left arm",
+    "Using the left arm, place the mouse for cursor control on the left of the soap with uneven tan grains",
+    "Use the left arm to move the dark mouse with logo on top to the left of the grainy brown soap.",
+    "Move the mouse for cursor control to the left of the soap with tan specks.",
+    "Use the left arm, move the smooth plastic mouse left of the soap with uneven tan grains",
+    "Move the dark gray mouse to the left of the rounded bar of dark soap.",
+    "Set the gray mouse with smooth surface left of the cleaning soap with spotted texture.",
+    "Stick the smooth plastic mouse on the left of the smooth soap with grainy spots",
+    "Using the left arm, move the rounded gray mouse left of the rectangular soap with rounded edges.",
+    "Place the mouse with two buttons and wheel to rest left of the rounded bar of dark soap using the left arm",
+    "Set the compact oval-shaped mouse carefully on the left of the smooth soap with grainy spots",
+    "With the left arm, move the compact oval-shaped mouse to the left side of the rounded bar of dark soap.",
+    "Place the mouse with sleek design on the left of the rounded bar of dark soap.",
+    "Position the dark mouse with logo on top to the left of the solid brown cleaning soap.",
+    "Carefully position the small computer mouse to the left of the dark brown hand-sized soap.",
+    "Shift the compact oval-shaped mouse leftward to the side of the rounded bar of dark soap",
+    "Position the dark gray mouse carefully to the left of the rounded bar of dark soap.",
+    "Set the palm-fitting mouse directly to the left of the soap with uneven tan grains",
+    "Drop the compact oval-shaped mouse to the left of the smooth soap with grainy spots",
+    "Set the palm-fitting mouse to the left of the smooth soap with grainy spots",
+    "Put the dark gray mouse on the left side of the rounded bar of dark soap",
+    "Grab the palm-fitting mouse with the left arm and set left of the grainy brown soap",
+    "Place the palm-fitting mouse exactly to the left of the dark brown hand-sized soap",
+    "Grab the compact oval-shaped mouse using the left arm and place left of the dark soap bar.",
+    "Grab the mouse with two buttons and wheel using the left arm and place it left of the soap bar with curved edges.",
+    "With the left arm, position the smooth plastic mouse left of the rectangular soap with rounded edges",
+    "Grab the mouse with two buttons and wheel using the left arm and move left of the cleaning soap with spotted texture",
+    "Position the dark gray mouse to the left of the cleaning soap with spotted texture",
+    "Put the palm-fitting mouse to the left of the small dark cleaning soap",
+    "Use the left arm to put the small computer mouse left of the smooth soap with grainy spots",
+    "Using the left arm, put the mouse with sleek design on left of the small dark cleaning soap",
+    "With the left arm, stick the palm-fitting mouse left of the grainy brown soap",
+    "Using the left arm, set the small computer mouse to the left of the cleaning soap with spotted texture.",
+    "Use the left arm to move the small computer mouse to the soap with uneven tan grains's left",
+    "Move the smooth plastic mouse to the left side of the rounded bar of dark soap",
+    "Grab the mouse for cursor control with the left arm and shift it left of the small dark cleaning soap.",
+    "Set the ergonomic mouse on the left side of the solid brown cleaning soap.",
+    "With the left arm, place the small computer mouse left of the grainy brown soap",
+    "Use the left arm to set the compact oval-shaped mouse left of the dark brown hand-sized soap",
+    "Use the left arm and place the compact oval-shaped mouse left of the rounded bar of dark soap.",
+    "Adjust the small computer mouse to rest on the dark brown hand-sized soap's left",
+    "Place the gray mouse with smooth surface directly to the left of the rectangular soap with rounded edges.",
+    "Place the palm-fitting mouse carefully to the solid brown cleaning soap's left",
+    "With the left arm, position the palm-fitting mouse left of the soap bar with curved edges.",
+    "Use the left arm to position the smooth plastic mouse left of the dark soap bar",
+    "Place the compact oval-shaped mouse left of the dark brown hand-sized soap using the left arm",
+    "With the left arm, set the ergonomic mouse on the left of the smooth soap with grainy spots.",
+    "Shift the mouse with sleek design and position it left of the soap with tan specks.",
+    "Move the small computer mouse to the left of the small dark cleaning soap",
+    "Drop the palm-fitting mouse on the left side of the rounded bar of dark soap",
+    "Place the gray mouse with smooth surface left of the rectangular soap with rounded edges using the left arm",
+    "Using the left arm, place the compact oval-shaped mouse on the left of the cleaning soap with spotted texture",
+    "Use the left arm to move the smooth plastic mouse to the left of the small dark cleaning soap.",
+    "Move the mouse for cursor control to the left of the small dark cleaning soap.",
+    "Use the left arm, move the compact oval-shaped mouse left of the soap with tan specks",
+    "Move the compact oval-shaped mouse to the left of the soap bar with curved edges.",
+    "Set the mouse with two buttons and wheel left of the dark soap bar.",
+    "Stick the mouse with two buttons and wheel on the left of the dark soap bar",
+    "Using the left arm, move the mouse with sleek design left of the rectangular soap with rounded edges.",
+    "Place the rounded gray mouse to rest left of the soap with uneven tan grains using the left arm",
+    "Set the compact oval-shaped mouse carefully on the left of the soap bar with curved edges",
+    "With the left arm, move the ergonomic mouse to the left side of the grainy brown soap.",
+    "Place the small computer mouse on the left of the dark soap bar.",
+    "Position the mouse with sleek design to the left of the soap with uneven tan grains.",
+    "Carefully position the smooth plastic mouse to the left of the rounded bar of dark soap.",
+    "Shift the dark mouse with logo on top leftward to the side of the grainy brown soap",
+    "Position the gray mouse with smooth surface carefully to the left of the smooth soap with grainy spots.",
+    "Set the smooth plastic mouse directly to the left of the soap with uneven tan grains",
+    "Drop the mouse for cursor control to the left of the rectangular soap with rounded edges",
+    "Set the smooth plastic mouse to the left of the cleaning soap with spotted texture",
+    "Put the small computer mouse on the left side of the soap bar with curved edges",
+    "Grab the mouse for cursor control with the left arm and set left of the dark brown hand-sized soap",
+    "Place the smooth plastic mouse exactly to the left of the dark soap bar",
+    "Grab the mouse for cursor control using the left arm and place left of the smooth soap with grainy spots."
+  ],
+  "unseen": [
+    "Position the flat-bottomed mouse on the left of the skincare soap bar",
+    "Set the hand-sized wireless mouse on the left side of the brown soap",
+    "Pick the mouse with scroll wheel and set it left of the brown soap.",
+    "Set the hand-sized wireless mouse to the left of the dark bar soap",
+    "Set the hand-sized wireless mouse on the left side of the brown soap.",
+    "Set the flat-bottomed mouse down to the left of the dark bar soap",
+    "Use the left arm to put the flat-bottomed mouse left of the dark bar soap.",
+    "Place the mouse with scroll wheel to the left of the brown soap using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the skincare soap bar.",
+    "Grab the hand-sized wireless mouse and place left of the brown soap",
+    "Position the hand-sized wireless mouse on the left of the skincare soap bar",
+    "Set the mouse with scroll wheel on the left side of the brown soap",
+    "Pick the hand-sized wireless mouse and set it left of the brown soap.",
+    "Set the mouse with scroll wheel to the left of the skincare soap bar",
+    "Set the mouse with scroll wheel on the left side of the skincare soap bar.",
+    "Set the hand-sized wireless mouse down to the left of the skincare soap bar",
+    "Use the left arm to put the mouse with scroll wheel left of the brown soap.",
+    "Place the flat-bottomed mouse to the left of the dark bar soap using the left arm",
+    "Use the left arm to place the hand-sized wireless mouse left of the skincare soap bar.",
+    "Grab the mouse with scroll wheel and place left of the skincare soap bar",
+    "Position the flat-bottomed mouse on the left of the brown soap",
+    "Set the mouse with scroll wheel on the left side of the brown soap",
+    "Pick the hand-sized wireless mouse and set it left of the skincare soap bar.",
+    "Set the hand-sized wireless mouse to the left of the dark bar soap",
+    "Set the flat-bottomed mouse on the left side of the brown soap.",
+    "Set the flat-bottomed mouse down to the left of the brown soap",
+    "Use the left arm to put the hand-sized wireless mouse left of the brown soap.",
+    "Place the flat-bottomed mouse to the left of the dark bar soap using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the dark bar soap.",
+    "Grab the flat-bottomed mouse and place left of the skincare soap bar",
+    "Position the mouse with scroll wheel on the left of the brown soap",
+    "Set the hand-sized wireless mouse on the left side of the dark bar soap",
+    "Pick the hand-sized wireless mouse and set it left of the skincare soap bar.",
+    "Set the mouse with scroll wheel to the left of the skincare soap bar",
+    "Set the flat-bottomed mouse on the left side of the dark bar soap.",
+    "Set the mouse with scroll wheel down to the left of the brown soap",
+    "Use the left arm to put the mouse with scroll wheel left of the skincare soap bar.",
+    "Place the mouse with scroll wheel to the left of the skincare soap bar using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the dark bar soap.",
+    "Grab the flat-bottomed mouse and place left of the dark bar soap",
+    "Position the hand-sized wireless mouse on the left of the skincare soap bar",
+    "Set the mouse with scroll wheel on the left side of the skincare soap bar",
+    "Pick the flat-bottomed mouse and set it left of the skincare soap bar.",
+    "Set the hand-sized wireless mouse to the left of the skincare soap bar",
+    "Set the hand-sized wireless mouse on the left side of the skincare soap bar.",
+    "Set the hand-sized wireless mouse down to the left of the brown soap",
+    "Use the left arm to put the hand-sized wireless mouse left of the brown soap.",
+    "Place the hand-sized wireless mouse to the left of the skincare soap bar using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the brown soap.",
+    "Grab the mouse with scroll wheel and place left of the brown soap",
+    "Position the flat-bottomed mouse on the left of the skincare soap bar",
+    "Set the hand-sized wireless mouse on the left side of the skincare soap bar",
+    "Pick the hand-sized wireless mouse and set it left of the dark bar soap.",
+    "Set the mouse with scroll wheel to the left of the dark bar soap",
+    "Set the hand-sized wireless mouse on the left side of the brown soap.",
+    "Set the mouse with scroll wheel down to the left of the dark bar soap",
+    "Use the left arm to put the flat-bottomed mouse left of the dark bar soap.",
+    "Place the flat-bottomed mouse to the left of the skincare soap bar using the left arm",
+    "Use the left arm to place the mouse with scroll wheel left of the dark bar soap.",
+    "Grab the hand-sized wireless mouse and place left of the brown soap",
+    "Position the mouse with scroll wheel on the left of the dark bar soap",
+    "Set the flat-bottomed mouse on the left side of the brown soap",
+    "Pick the mouse with scroll wheel and set it left of the dark bar soap.",
+    "Set the flat-bottomed mouse to the left of the dark bar soap",
+    "Set the mouse with scroll wheel on the left side of the dark bar soap.",
+    "Set the mouse with scroll wheel down to the left of the skincare soap bar",
+    "Use the left arm to put the flat-bottomed mouse left of the dark bar soap.",
+    "Place the flat-bottomed mouse to the left of the brown soap using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the skincare soap bar.",
+    "Grab the flat-bottomed mouse and place left of the skincare soap bar",
+    "Position the flat-bottomed mouse on the left of the skincare soap bar",
+    "Set the flat-bottomed mouse on the left side of the skincare soap bar",
+    "Pick the hand-sized wireless mouse and set it left of the skincare soap bar.",
+    "Set the hand-sized wireless mouse to the left of the brown soap",
+    "Set the flat-bottomed mouse on the left side of the brown soap.",
+    "Set the hand-sized wireless mouse down to the left of the skincare soap bar",
+    "Use the left arm to put the flat-bottomed mouse left of the brown soap.",
+    "Place the flat-bottomed mouse to the left of the brown soap using the left arm",
+    "Use the left arm to place the hand-sized wireless mouse left of the dark bar soap.",
+    "Grab the hand-sized wireless mouse and place left of the brown soap",
+    "Position the mouse with scroll wheel on the left of the dark bar soap",
+    "Set the hand-sized wireless mouse on the left side of the brown soap",
+    "Pick the mouse with scroll wheel and set it left of the dark bar soap.",
+    "Set the flat-bottomed mouse to the left of the dark bar soap",
+    "Set the hand-sized wireless mouse on the left side of the brown soap.",
+    "Set the mouse with scroll wheel down to the left of the dark bar soap",
+    "Use the left arm to put the mouse with scroll wheel left of the brown soap.",
+    "Place the flat-bottomed mouse to the left of the brown soap using the left arm",
+    "Use the left arm to place the flat-bottomed mouse left of the dark bar soap.",
+    "Grab the flat-bottomed mouse and place left of the skincare soap bar",
+    "Position the hand-sized wireless mouse on the left of the brown soap",
+    "Set the hand-sized wireless mouse on the left side of the dark bar soap",
+    "Pick the mouse with scroll wheel and set it left of the skincare soap bar.",
+    "Set the flat-bottomed mouse to the left of the dark bar soap",
+    "Set the mouse with scroll wheel on the left side of the skincare soap bar.",
+    "Set the mouse with scroll wheel down to the left of the brown soap",
+    "Use the left arm to put the flat-bottomed mouse left of the dark bar soap.",
+    "Place the flat-bottomed mouse to the left of the dark bar soap using the left arm",
+    "Use the left arm to place the hand-sized wireless mouse left of the dark bar soap.",
+    "Grab the mouse with scroll wheel and place left of the dark bar soap"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode11.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd692d6b5afe5ec2d8058e843a956b6a0d0f82a9
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the small black stapler with metal core to the left of the smooth woodenblock",
+    "Shift the black stapler with curved top and position it left of the solid woodenblock.",
+    "With the left arm, position the black stapler with curved top left of the grainy-textured woodenblock",
+    "Grab the black smooth-textured stapler using the left arm and move left of the palm-sized woodenblock",
+    "With the left arm, set the stapler with silver inner plates on the left of the circular-ended woodenblock.",
+    "Carefully position the black stapler with smooth finish to the left of the cylinder-shaped woodenblock.",
+    "Move the stapler with silver inner plates to the left of the light brown cylinder woodenblock",
+    "Using the left arm, move the black stapler with rectangular base left of the circular-ended woodenblock.",
+    "Place the compact black stapler carefully to the light brown cylinder woodenblock's left",
+    "With the left arm, stick the handheld black stapler left of the cylinder-shaped woodenblock",
+    "Move the black stapler with smooth finish to the left of the grainy-textured woodenblock.",
+    "Put the black stapler with shiny interior to the left of the cylinder-shaped woodenblock",
+    "Use the left arm and place the black stapler with rectangular base left of the circular-ended woodenblock.",
+    "Set the small black stapler with metal core left of the grainy-textured woodenblock.",
+    "Grab the black stapler with curved top with the left arm and set left of the small light brown woodenblock",
+    "Place the compact black stapler exactly to the left of the light brown cylinder woodenblock",
+    "Use the left arm to move the stapler with silver inner plates to the left of the woodenblock with rounded edges.",
+    "With the left arm, place the stapler with silver staple tray left of the grainy-textured woodenblock",
+    "Place the curved black stapler left of the woodenblock with rounded edges using the left arm",
+    "Use the left arm, move the small black stapler with metal core left of the light brown cylinder woodenblock",
+    "Move the black stapler with smooth finish to the left side of the light brown cylinder woodenblock",
+    "Shift the compact black stapler leftward to the side of the smooth light brown woodenblock",
+    "With the left arm, position the stapler with silver staple tray left of the palm-sized woodenblock.",
+    "Grab the curved black stapler using the left arm and place left of the solid woodenblock.",
+    "Grab the black smooth-textured stapler using the left arm and place it left of the palm-sized woodenblock.",
+    "Stick the small black stapler with metal core on the left of the woodenblock with rounded edges",
+    "Place the black stapler with shiny interior on the left of the grainy-textured woodenblock.",
+    "Position the black stapler with curved top to the left of the palm-sized woodenblock",
+    "Grab the small black stapler with metal core with the left arm and shift it left of the small light brown woodenblock.",
+    "Place the black stapler for joining pages left of the light brown woodenblock using the left arm",
+    "Adjust the handheld black stapler to rest on the small light brown woodenblock's left",
+    "Set the black stapler with curved top directly to the left of the smooth woodenblock",
+    "Place the curved black stapler to rest left of the palm-sized woodenblock using the left arm",
+    "Using the left arm, place the curved black stapler on the left of the solid woodenblock",
+    "Move the black smooth-textured stapler to the left of the light brown woodenblock.",
+    "Use the left arm to position the stapler with silver inner plates left of the cylinder-shaped woodenblock",
+    "Drop the stapler with silver inner plates on the left side of the cylinder-shaped woodenblock",
+    "Using the left arm, put the curved black stapler on left of the palm-sized woodenblock",
+    "Set the black stapler with smooth finish carefully on the left of the light brown cylinder woodenblock",
+    "Position the black stapler with curved top carefully to the left of the smooth light brown woodenblock.",
+    "Use the left arm to move the small black stapler with metal core to the small woodenblock's left",
+    "Drop the curved black stapler to the left of the solid woodenblock",
+    "Use the left arm to put the stapler with silver staple tray left of the circular-ended woodenblock",
+    "Using the left arm, set the black stapler with rectangular base to the left of the light brown woodenblock.",
+    "Position the black stapler for joining pages to the left of the solid woodenblock.",
+    "Place the stapler with silver staple tray directly to the left of the grainy-textured woodenblock.",
+    "Set the black stapler with shiny interior on the left side of the smooth light brown woodenblock.",
+    "Use the left arm to set the black smooth-textured stapler left of the solid woodenblock",
+    "With the left arm, move the stapler with silver staple tray to the left side of the light brown woodenblock.",
+    "Put the black stapler for joining pages on the left side of the woodenblock with rounded edges",
+    "Set the stapler with silver staple tray to the left of the small light brown woodenblock",
+    "Shift the handheld black stapler and position it left of the solid woodenblock.",
+    "With the left arm, position the stapler with silver staple tray left of the solid woodenblock",
+    "Grab the black stapler with curved top using the left arm and move left of the small light brown woodenblock",
+    "With the left arm, set the black stapler with shiny interior on the left of the light brown woodenblock.",
+    "Carefully position the stapler with silver staple tray to the left of the cylinder-shaped woodenblock.",
+    "Move the handheld black stapler to the left of the solid woodenblock",
+    "Using the left arm, move the black stapler with curved top left of the solid woodenblock.",
+    "Place the small black stapler with metal core carefully to the palm-sized woodenblock's left",
+    "With the left arm, stick the stapler with silver inner plates left of the small light brown woodenblock",
+    "Move the compact black stapler to the left of the circular-ended woodenblock.",
+    "Put the small black stapler with metal core to the left of the small light brown woodenblock",
+    "Use the left arm and place the small black stapler with metal core left of the smooth light brown woodenblock.",
+    "Set the black stapler with curved top left of the palm-sized woodenblock.",
+    "Grab the black stapler with shiny interior with the left arm and set left of the small woodenblock",
+    "Place the black stapler with smooth finish exactly to the left of the palm-sized woodenblock",
+    "Use the left arm to move the black smooth-textured stapler to the left of the light brown woodenblock.",
+    "With the left arm, place the black stapler with rectangular base left of the light brown cylinder woodenblock",
+    "Place the black stapler with shiny interior left of the light brown cylinder woodenblock using the left arm",
+    "Use the left arm, move the handheld black stapler left of the small woodenblock",
+    "Move the handheld black stapler to the left side of the light brown woodenblock",
+    "Shift the small black stapler with metal core leftward to the side of the palm-sized woodenblock",
+    "With the left arm, position the small black stapler with metal core left of the smooth light brown woodenblock.",
+    "Grab the stapler with silver inner plates using the left arm and place left of the woodenblock with rounded edges.",
+    "Grab the black stapler with smooth finish using the left arm and place it left of the small light brown woodenblock.",
+    "Stick the stapler with silver inner plates on the left of the woodenblock with rounded edges",
+    "Place the stapler with silver inner plates on the left of the solid woodenblock.",
+    "Position the black stapler for joining pages to the left of the small woodenblock",
+    "Grab the small black stapler with metal core with the left arm and shift it left of the grainy-textured woodenblock.",
+    "Place the curved black stapler left of the solid woodenblock using the left arm",
+    "Adjust the curved black stapler to rest on the solid woodenblock's left",
+    "Set the curved black stapler directly to the left of the solid woodenblock",
+    "Place the black stapler for joining pages to rest left of the smooth light brown woodenblock using the left arm",
+    "Using the left arm, place the black smooth-textured stapler on the left of the circular-ended woodenblock",
+    "Move the compact black stapler to the left of the palm-sized woodenblock.",
+    "Use the left arm to position the black stapler with shiny interior left of the small woodenblock",
+    "Drop the small black stapler with metal core on the left side of the cylinder-shaped woodenblock",
+    "Using the left arm, put the stapler with silver inner plates on left of the smooth light brown woodenblock",
+    "Set the curved black stapler carefully on the left of the light brown woodenblock",
+    "Position the curved black stapler carefully to the left of the grainy-textured woodenblock.",
+    "Use the left arm to move the small black stapler with metal core to the small woodenblock's left",
+    "Drop the handheld black stapler to the left of the small light brown woodenblock",
+    "Use the left arm to put the compact black stapler left of the woodenblock with rounded edges",
+    "Using the left arm, set the black stapler with curved top to the left of the grainy-textured woodenblock.",
+    "Position the black stapler for joining pages to the left of the small woodenblock.",
+    "Place the black stapler for joining pages directly to the left of the smooth woodenblock.",
+    "Set the stapler with silver staple tray on the left side of the woodenblock with rounded edges.",
+    "Use the left arm to set the compact black stapler left of the grainy-textured woodenblock",
+    "With the left arm, move the black stapler with smooth finish to the left side of the woodenblock with rounded edges.",
+    "Put the curved black stapler on the left side of the cylinder-shaped woodenblock"
+  ],
+  "unseen": [
+    "Use the left arm to place the metal and plastic stapler left of the rounded woodenblock with grain texture.",
+    "Use the left arm to put the metal and plastic stapler left of the woodenblock for stacking.",
+    "Set the metal and plastic stapler on the left side of the woodenblock with circular sides.",
+    "Set the palm-sized black stapler on the left side of the woodenblock with circular sides",
+    "Set the black stapler down to the left of the rounded woodenblock with grain texture",
+    "Pick the black stapler and set it left of the woodenblock for stacking.",
+    "Set the black stapler to the left of the rounded woodenblock with grain texture",
+    "Place the metal and plastic stapler to the left of the woodenblock for stacking using the left arm",
+    "Position the metal and plastic stapler on the left of the woodenblock with circular sides",
+    "Grab the black stapler and place left of the woodenblock for stacking",
+    "Use the left arm to place the black stapler left of the rounded woodenblock with grain texture.",
+    "Use the left arm to put the black stapler left of the woodenblock for stacking.",
+    "Set the metal and plastic stapler on the left side of the woodenblock for stacking.",
+    "Set the palm-sized black stapler on the left side of the woodenblock for stacking",
+    "Set the black stapler down to the left of the rounded woodenblock with grain texture",
+    "Pick the metal and plastic stapler and set it left of the rounded woodenblock with grain texture.",
+    "Set the black stapler to the left of the woodenblock with circular sides",
+    "Place the black stapler to the left of the rounded woodenblock with grain texture using the left arm",
+    "Position the palm-sized black stapler on the left of the woodenblock with circular sides",
+    "Grab the palm-sized black stapler and place left of the woodenblock with circular sides",
+    "Use the left arm to place the palm-sized black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the metal and plastic stapler left of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler on the left side of the woodenblock for stacking.",
+    "Set the metal and plastic stapler on the left side of the woodenblock for stacking",
+    "Set the black stapler down to the left of the woodenblock for stacking",
+    "Pick the metal and plastic stapler and set it left of the woodenblock with circular sides.",
+    "Set the metal and plastic stapler to the left of the woodenblock with circular sides",
+    "Place the black stapler to the left of the woodenblock for stacking using the left arm",
+    "Position the palm-sized black stapler on the left of the woodenblock for stacking",
+    "Grab the metal and plastic stapler and place left of the rounded woodenblock with grain texture",
+    "Use the left arm to place the black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the palm-sized black stapler left of the rounded woodenblock with grain texture.",
+    "Set the black stapler on the left side of the rounded woodenblock with grain texture.",
+    "Set the palm-sized black stapler on the left side of the woodenblock for stacking",
+    "Set the metal and plastic stapler down to the left of the woodenblock with circular sides",
+    "Pick the palm-sized black stapler and set it left of the woodenblock for stacking.",
+    "Set the black stapler to the left of the woodenblock with circular sides",
+    "Place the black stapler to the left of the woodenblock for stacking using the left arm",
+    "Position the black stapler on the left of the woodenblock with circular sides",
+    "Grab the palm-sized black stapler and place left of the woodenblock with circular sides",
+    "Use the left arm to place the black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the black stapler left of the woodenblock with circular sides.",
+    "Set the metal and plastic stapler on the left side of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler on the left side of the woodenblock for stacking",
+    "Set the black stapler down to the left of the woodenblock with circular sides",
+    "Pick the metal and plastic stapler and set it left of the woodenblock for stacking.",
+    "Set the black stapler to the left of the woodenblock for stacking",
+    "Place the palm-sized black stapler to the left of the woodenblock with circular sides using the left arm",
+    "Position the black stapler on the left of the woodenblock for stacking",
+    "Grab the palm-sized black stapler and place left of the woodenblock for stacking",
+    "Use the left arm to place the black stapler left of the woodenblock for stacking.",
+    "Use the left arm to put the black stapler left of the woodenblock for stacking.",
+    "Set the black stapler on the left side of the woodenblock for stacking.",
+    "Set the metal and plastic stapler on the left side of the rounded woodenblock with grain texture",
+    "Set the black stapler down to the left of the woodenblock with circular sides",
+    "Pick the metal and plastic stapler and set it left of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler to the left of the woodenblock with circular sides",
+    "Place the black stapler to the left of the woodenblock with circular sides using the left arm",
+    "Position the black stapler on the left of the woodenblock for stacking",
+    "Grab the metal and plastic stapler and place left of the woodenblock for stacking",
+    "Use the left arm to place the metal and plastic stapler left of the rounded woodenblock with grain texture.",
+    "Use the left arm to put the palm-sized black stapler left of the rounded woodenblock with grain texture.",
+    "Set the palm-sized black stapler on the left side of the rounded woodenblock with grain texture.",
+    "Set the black stapler on the left side of the woodenblock for stacking",
+    "Set the metal and plastic stapler down to the left of the woodenblock for stacking",
+    "Pick the black stapler and set it left of the woodenblock for stacking.",
+    "Set the metal and plastic stapler to the left of the woodenblock for stacking",
+    "Place the palm-sized black stapler to the left of the woodenblock with circular sides using the left arm",
+    "Position the black stapler on the left of the woodenblock for stacking",
+    "Grab the metal and plastic stapler and place left of the woodenblock with circular sides",
+    "Use the left arm to place the black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the metal and plastic stapler left of the woodenblock with circular sides.",
+    "Set the black stapler on the left side of the woodenblock with circular sides.",
+    "Set the palm-sized black stapler on the left side of the rounded woodenblock with grain texture",
+    "Set the metal and plastic stapler down to the left of the rounded woodenblock with grain texture",
+    "Pick the metal and plastic stapler and set it left of the woodenblock with circular sides.",
+    "Set the palm-sized black stapler to the left of the woodenblock for stacking",
+    "Place the palm-sized black stapler to the left of the woodenblock for stacking using the left arm",
+    "Position the metal and plastic stapler on the left of the woodenblock with circular sides",
+    "Grab the black stapler and place left of the woodenblock for stacking",
+    "Use the left arm to place the palm-sized black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the palm-sized black stapler left of the rounded woodenblock with grain texture.",
+    "Set the black stapler on the left side of the woodenblock with circular sides.",
+    "Set the black stapler on the left side of the woodenblock for stacking",
+    "Set the palm-sized black stapler down to the left of the woodenblock for stacking",
+    "Pick the palm-sized black stapler and set it left of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler to the left of the rounded woodenblock with grain texture",
+    "Place the metal and plastic stapler to the left of the woodenblock for stacking using the left arm",
+    "Position the black stapler on the left of the rounded woodenblock with grain texture",
+    "Grab the palm-sized black stapler and place left of the woodenblock with circular sides",
+    "Use the left arm to place the palm-sized black stapler left of the woodenblock with circular sides.",
+    "Use the left arm to put the palm-sized black stapler left of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler on the left side of the woodenblock for stacking.",
+    "Set the metal and plastic stapler on the left side of the woodenblock with circular sides",
+    "Set the metal and plastic stapler down to the left of the rounded woodenblock with grain texture",
+    "Pick the metal and plastic stapler and set it left of the rounded woodenblock with grain texture.",
+    "Set the metal and plastic stapler to the left of the woodenblock with circular sides",
+    "Place the black stapler to the left of the rounded woodenblock with grain texture using the left arm",
+    "Position the black stapler on the left of the woodenblock with circular sides",
+    "Grab the palm-sized black stapler and place left of the rounded woodenblock with grain texture"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode12.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..95562cd1ede637888670f1ce412caff92ede0c57
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the hand-sized rolling toycar on the left side of the blue soap.",
+    "With the left arm, move the small plastic toycar to the left side of the small blue soap.",
+    "Use the left arm to put the compact glossy blue toycar left of the blue soap for hand washing",
+    "With the left arm, stick the plastic toycar with smooth finish left of the rounded rectangular blue soap bar",
+    "Place the small plastic toycar exactly to the left of the soap with smooth edges",
+    "Drop the toycar with black wheels on the left side of the compact blue bar of soap",
+    "With the left arm, set the hand-sized rolling toycar on the left of the soap with smooth edges.",
+    "Set the toycar with dark gray windows carefully on the left of the small blue soap",
+    "Grab the kids' toycar in bright blue using the left arm and place left of the rounded rectangular blue soap bar.",
+    "Grab the compact glossy blue toycar using the left arm and move left of the compact blue bar of soap",
+    "Position the blue toycar with yellow roof accents carefully to the left of the compact blue bar of soap.",
+    "Put the plastic toycar with smooth finish to the left of the soap bar with light blue shade",
+    "Using the left arm, set the blue toycar with yellow roof accents to the left of the soap with smooth edges.",
+    "Place the toycar with black wheels on the left of the blue soap.",
+    "Grab the toycar featuring black and white wheels with the left arm and shift it left of the soap bar with light blue shade.",
+    "Use the left arm to position the toycar made of plastic material left of the soap bar with light blue shade",
+    "With the left arm, place the toycar with black wheels left of the soap with smooth edges",
+    "Place the toycar made of plastic material carefully to the compact blue bar of soap's left",
+    "Using the left arm, put the kids' toycar in bright blue on left of the solid blue cleansing soap",
+    "Adjust the toycar with black wheels to rest on the solid blue cleansing soap's left",
+    "Set the kids' toycar in bright blue to the left of the smooth soap",
+    "Stick the toycar made of plastic material on the left of the soap with smooth edges",
+    "Use the left arm, move the toycar with dark gray windows left of the small blue soap",
+    "Use the left arm to set the kids' toycar in bright blue left of the soap with smooth edges",
+    "Position the toycar made of plastic material to the left of the soap bar with light blue shade.",
+    "Using the left arm, place the toycar featuring black and white wheels on the left of the bright blue smooth soap bar",
+    "Move the toycar with black wheels to the left of the compact blue bar of soap.",
+    "Set the small plastic toycar directly to the left of the smooth soap",
+    "Place the toycar with dark gray windows directly to the left of the smooth soap.",
+    "Move the bright blue toycar with roof buttons to the left of the bright blue smooth soap bar.",
+    "Use the left arm to move the blue toycar with yellow roof accents to the left of the small blue soap.",
+    "Grab the hand-sized rolling toycar using the left arm and place it left of the smooth soap.",
+    "Drop the bright blue toycar with roof buttons to the left of the soap bar with light blue shade",
+    "Put the blue toycar with yellow roof accents on the left side of the solid blue cleansing soap",
+    "Place the toycar featuring black and white wheels to rest left of the small blue soap using the left arm",
+    "With the left arm, position the toycar with black wheels left of the compact blue bar of soap.",
+    "Place the plastic toycar with smooth finish left of the small blue soap using the left arm",
+    "Place the blue toycar with yellow roof accents left of the soap with smooth edges using the left arm",
+    "Move the toycar with dark gray windows to the left side of the rounded rectangular blue soap bar",
+    "Use the left arm to move the compact glossy blue toycar to the rounded rectangular blue soap bar's left",
+    "With the left arm, position the hand-sized rolling toycar left of the blue soap for hand washing",
+    "Grab the toycar with dark gray windows with the left arm and set left of the smooth soap",
+    "Move the toycar with black wheels to the left of the blue soap",
+    "Shift the bright blue toycar with roof buttons and position it left of the hand-sized rectangular soap.",
+    "Carefully position the compact glossy blue toycar to the left of the blue soap.",
+    "Set the blue toycar with yellow roof accents left of the blue soap.",
+    "Using the left arm, move the kids' toycar in bright blue left of the small blue soap.",
+    "Use the left arm and place the bright blue toycar with roof buttons left of the smooth soap.",
+    "Position the toycar with black wheels to the left of the soap bar with light blue shade",
+    "Shift the toycar with rounded edges leftward to the side of the rounded rectangular blue soap bar",
+    "Set the plastic toycar with smooth finish on the left side of the rectangular soap with rounded corners.",
+    "With the left arm, move the small plastic toycar to the left side of the compact blue bar of soap.",
+    "Use the left arm to put the toycar with dark gray windows left of the soap with smooth edges",
+    "With the left arm, stick the kids' toycar in bright blue left of the rectangular soap with rounded corners",
+    "Place the compact glossy blue toycar exactly to the left of the blue soap for hand washing",
+    "Drop the blue toycar with yellow roof accents on the left side of the bright blue smooth soap bar",
+    "With the left arm, set the compact glossy blue toycar on the left of the blue soap.",
+    "Set the plastic toycar with smooth finish carefully on the left of the blue soap",
+    "Grab the toycar with dark gray windows using the left arm and place left of the hand-sized rectangular soap.",
+    "Grab the toycar made of plastic material using the left arm and move left of the small blue soap",
+    "Position the toycar made of plastic material carefully to the left of the solid blue cleansing soap.",
+    "Put the blue toycar with yellow roof accents to the left of the rounded rectangular blue soap bar",
+    "Using the left arm, set the toycar featuring black and white wheels to the left of the small blue soap.",
+    "Place the compact glossy blue toycar on the left of the blue soap.",
+    "Grab the toycar with black wheels with the left arm and shift it left of the rectangular soap with rounded corners.",
+    "Use the left arm to position the toycar made of plastic material left of the hand-sized rectangular soap",
+    "With the left arm, place the toycar made of plastic material left of the rectangular soap with rounded corners",
+    "Place the plastic toycar with smooth finish carefully to the rounded rectangular blue soap bar's left",
+    "Using the left arm, put the plastic toycar with smooth finish on left of the rounded rectangular blue soap bar",
+    "Adjust the toycar with rounded edges to rest on the bright blue smooth soap bar's left",
+    "Set the compact glossy blue toycar to the left of the soap bar with light blue shade",
+    "Stick the hand-sized rolling toycar on the left of the small blue soap",
+    "Use the left arm, move the toycar featuring black and white wheels left of the blue soap for hand washing",
+    "Use the left arm to set the bright blue toycar with roof buttons left of the blue soap for hand washing",
+    "Position the toycar made of plastic material to the left of the rectangular soap with rounded corners.",
+    "Using the left arm, place the compact glossy blue toycar on the left of the smooth soap",
+    "Move the blue toycar with yellow roof accents to the left of the hand-sized rectangular soap.",
+    "Set the toycar with rounded edges directly to the left of the blue soap for hand washing",
+    "Place the compact glossy blue toycar directly to the left of the soap with smooth edges.",
+    "Move the blue toycar with yellow roof accents to the left of the blue soap for hand washing.",
+    "Use the left arm to move the toycar with black wheels to the left of the blue soap for hand washing.",
+    "Grab the toycar with black wheels using the left arm and place it left of the compact blue bar of soap.",
+    "Drop the toycar with dark gray windows to the left of the solid blue cleansing soap",
+    "Put the toycar with black wheels on the left side of the solid blue cleansing soap",
+    "Place the plastic toycar with smooth finish to rest left of the rectangular soap with rounded corners using the left arm",
+    "With the left arm, position the small plastic toycar left of the rectangular soap with rounded corners.",
+    "Place the small plastic toycar left of the solid blue cleansing soap using the left arm",
+    "Place the compact glossy blue toycar left of the soap bar with light blue shade using the left arm",
+    "Move the small plastic toycar to the left side of the hand-sized rectangular soap",
+    "Use the left arm to move the toycar with black wheels to the hand-sized rectangular soap's left",
+    "With the left arm, position the toycar with rounded edges left of the blue soap for hand washing",
+    "Grab the plastic toycar with smooth finish with the left arm and set left of the bright blue smooth soap bar",
+    "Move the plastic toycar with smooth finish to the left of the rounded rectangular blue soap bar",
+    "Shift the plastic toycar with smooth finish and position it left of the blue soap.",
+    "Carefully position the compact glossy blue toycar to the left of the small blue soap.",
+    "Set the toycar with dark gray windows left of the soap bar with light blue shade.",
+    "Using the left arm, move the toycar with black wheels left of the solid blue cleansing soap.",
+    "Use the left arm and place the kids' toycar in bright blue left of the compact blue bar of soap.",
+    "Position the hand-sized rolling toycar to the left of the blue soap",
+    "Shift the compact glossy blue toycar leftward to the side of the hand-sized rectangular soap"
+  ],
+  "unseen": [
+    "Set the blue toycar on the left side of the soap bar shaped rectangular",
+    "Pick the playable toycar with rolling wheels and set it left of the bright blue soap bar.",
+    "Use the left arm to place the blue toycar with yellow buttons left of the blue soap with printed patterns.",
+    "Use the left arm to put the playable toycar with rolling wheels left of the blue soap with printed patterns.",
+    "Grab the blue toycar with yellow buttons and place left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons down to the left of the bright blue soap bar",
+    "Set the playable toycar with rolling wheels to the left of the bright blue soap bar",
+    "Place the blue toycar with yellow buttons to the left of the blue soap with printed patterns using the left arm",
+    "Set the blue toycar on the left side of the blue soap with printed patterns.",
+    "Position the playable toycar with rolling wheels on the left of the bright blue soap bar",
+    "Set the blue toycar on the left side of the bright blue soap bar",
+    "Pick the playable toycar with rolling wheels and set it left of the blue soap with printed patterns.",
+    "Use the left arm to place the blue toycar with yellow buttons left of the bright blue soap bar.",
+    "Use the left arm to put the blue toycar with yellow buttons left of the soap bar shaped rectangular.",
+    "Grab the blue toycar with yellow buttons and place left of the soap bar shaped rectangular",
+    "Set the blue toycar down to the left of the bright blue soap bar",
+    "Set the blue toycar to the left of the soap bar shaped rectangular",
+    "Place the blue toycar with yellow buttons to the left of the blue soap with printed patterns using the left arm",
+    "Set the blue toycar with yellow buttons on the left side of the soap bar shaped rectangular.",
+    "Position the blue toycar with yellow buttons on the left of the blue soap with printed patterns",
+    "Set the blue toycar on the left side of the bright blue soap bar",
+    "Pick the playable toycar with rolling wheels and set it left of the blue soap with printed patterns.",
+    "Use the left arm to place the blue toycar left of the bright blue soap bar.",
+    "Use the left arm to put the playable toycar with rolling wheels left of the soap bar shaped rectangular.",
+    "Grab the blue toycar and place left of the soap bar shaped rectangular",
+    "Set the blue toycar with yellow buttons down to the left of the soap bar shaped rectangular",
+    "Set the blue toycar to the left of the bright blue soap bar",
+    "Place the playable toycar with rolling wheels to the left of the soap bar shaped rectangular using the left arm",
+    "Set the blue toycar on the left side of the blue soap with printed patterns.",
+    "Position the blue toycar with yellow buttons on the left of the bright blue soap bar",
+    "Set the playable toycar with rolling wheels on the left side of the blue soap with printed patterns",
+    "Pick the blue toycar with yellow buttons and set it left of the soap bar shaped rectangular.",
+    "Use the left arm to place the playable toycar with rolling wheels left of the bright blue soap bar.",
+    "Use the left arm to put the blue toycar left of the blue soap with printed patterns.",
+    "Grab the blue toycar with yellow buttons and place left of the bright blue soap bar",
+    "Set the blue toycar with yellow buttons down to the left of the soap bar shaped rectangular",
+    "Set the blue toycar to the left of the bright blue soap bar",
+    "Place the blue toycar to the left of the blue soap with printed patterns using the left arm",
+    "Set the playable toycar with rolling wheels on the left side of the bright blue soap bar.",
+    "Position the playable toycar with rolling wheels on the left of the blue soap with printed patterns",
+    "Set the playable toycar with rolling wheels on the left side of the bright blue soap bar",
+    "Pick the blue toycar and set it left of the soap bar shaped rectangular.",
+    "Use the left arm to place the blue toycar left of the soap bar shaped rectangular.",
+    "Use the left arm to put the blue toycar left of the bright blue soap bar.",
+    "Grab the blue toycar with yellow buttons and place left of the bright blue soap bar",
+    "Set the blue toycar down to the left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons to the left of the blue soap with printed patterns",
+    "Place the playable toycar with rolling wheels to the left of the soap bar shaped rectangular using the left arm",
+    "Set the blue toycar with yellow buttons on the left side of the bright blue soap bar.",
+    "Position the blue toycar on the left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons on the left side of the blue soap with printed patterns",
+    "Pick the blue toycar with yellow buttons and set it left of the soap bar shaped rectangular.",
+    "Use the left arm to place the blue toycar with yellow buttons left of the bright blue soap bar.",
+    "Use the left arm to put the blue toycar with yellow buttons left of the blue soap with printed patterns.",
+    "Grab the blue toycar with yellow buttons and place left of the blue soap with printed patterns",
+    "Set the playable toycar with rolling wheels down to the left of the bright blue soap bar",
+    "Set the blue toycar with yellow buttons to the left of the soap bar shaped rectangular",
+    "Place the blue toycar to the left of the blue soap with printed patterns using the left arm",
+    "Set the blue toycar on the left side of the blue soap with printed patterns.",
+    "Position the playable toycar with rolling wheels on the left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons on the left side of the bright blue soap bar",
+    "Pick the blue toycar and set it left of the bright blue soap bar.",
+    "Use the left arm to place the playable toycar with rolling wheels left of the bright blue soap bar.",
+    "Use the left arm to put the playable toycar with rolling wheels left of the bright blue soap bar.",
+    "Grab the blue toycar with yellow buttons and place left of the soap bar shaped rectangular",
+    "Set the playable toycar with rolling wheels down to the left of the bright blue soap bar",
+    "Set the blue toycar with yellow buttons to the left of the bright blue soap bar",
+    "Place the playable toycar with rolling wheels to the left of the bright blue soap bar using the left arm",
+    "Set the playable toycar with rolling wheels on the left side of the soap bar shaped rectangular.",
+    "Position the blue toycar on the left of the soap bar shaped rectangular",
+    "Set the blue toycar on the left side of the blue soap with printed patterns",
+    "Pick the playable toycar with rolling wheels and set it left of the soap bar shaped rectangular.",
+    "Use the left arm to place the playable toycar with rolling wheels left of the bright blue soap bar.",
+    "Use the left arm to put the blue toycar left of the soap bar shaped rectangular.",
+    "Grab the blue toycar with yellow buttons and place left of the soap bar shaped rectangular",
+    "Set the playable toycar with rolling wheels down to the left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons to the left of the bright blue soap bar",
+    "Place the blue toycar with yellow buttons to the left of the blue soap with printed patterns using the left arm",
+    "Set the playable toycar with rolling wheels on the left side of the soap bar shaped rectangular.",
+    "Position the blue toycar on the left of the bright blue soap bar",
+    "Set the playable toycar with rolling wheels on the left side of the blue soap with printed patterns",
+    "Pick the blue toycar and set it left of the blue soap with printed patterns.",
+    "Use the left arm to place the playable toycar with rolling wheels left of the blue soap with printed patterns.",
+    "Use the left arm to put the blue toycar with yellow buttons left of the soap bar shaped rectangular.",
+    "Grab the blue toycar with yellow buttons and place left of the soap bar shaped rectangular",
+    "Set the blue toycar down to the left of the bright blue soap bar",
+    "Set the playable toycar with rolling wheels to the left of the bright blue soap bar",
+    "Place the playable toycar with rolling wheels to the left of the blue soap with printed patterns using the left arm",
+    "Set the playable toycar with rolling wheels on the left side of the blue soap with printed patterns.",
+    "Position the playable toycar with rolling wheels on the left of the blue soap with printed patterns",
+    "Set the blue toycar on the left side of the soap bar shaped rectangular",
+    "Pick the blue toycar and set it left of the bright blue soap bar.",
+    "Use the left arm to place the playable toycar with rolling wheels left of the blue soap with printed patterns.",
+    "Use the left arm to put the blue toycar left of the blue soap with printed patterns.",
+    "Grab the playable toycar with rolling wheels and place left of the bright blue soap bar",
+    "Set the playable toycar with rolling wheels down to the left of the blue soap with printed patterns",
+    "Set the blue toycar with yellow buttons to the left of the soap bar shaped rectangular",
+    "Place the blue toycar to the left of the soap bar shaped rectangular using the left arm",
+    "Set the blue toycar with yellow buttons on the left side of the soap bar shaped rectangular.",
+    "Position the playable toycar with rolling wheels on the left of the soap bar shaped rectangular"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode13.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..682072b9e3d6814bfac153972c16746b6bd54809
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, set the yellow-blue rubikscube to the left of the toycar with dark gray windows.",
+    "Place the rubikscube with green center tiles exactly to the left of the toycar with dark gray windows",
+    "Grab the multicolored puzzle cube using the right arm and move left of the bright blue toycar with roof buttons",
+    "Place the rubikscube cube shape on the left of the kids' toycar in bright blue.",
+    "Grab the colorful rubikscube with the right arm and set left of the toycar made of plastic material",
+    "Set the rubikscube on the left side of the bright blue toycar with roof buttons.",
+    "Put the rubikscube with orange sides on the left side of the small plastic toycar",
+    "Shift the rubikscube and position it left of the kids' toycar in bright blue.",
+    "Use the right arm, move the rubikscube left of the hand-sized rolling toycar",
+    "Set the rubikscube with smooth plastic tiles directly to the left of the toycar made of plastic material",
+    "Place the colorful rubikscube to rest left of the bright blue toycar with roof buttons using the right arm",
+    "Position the rubikscube cube shape carefully to the left of the small plastic toycar.",
+    "Place the rubikscube directly to the left of the compact glossy blue toycar.",
+    "Use the right arm to set the rubikscube left of the toycar with dark gray windows",
+    "Use the right arm to move the rubikscube with rotating faces to the compact glossy blue toycar's left",
+    "Position the rubikscube cube shape to the left of the toycar featuring black and white wheels.",
+    "Move the rubikscube colorful and compact to the left side of the toycar with dark gray windows",
+    "Using the right arm, place the rubikscube with rotating faces on the left of the bright blue toycar with roof buttons",
+    "Grab the multicolored puzzle cube using the right arm and place left of the kids' toycar in bright blue.",
+    "Set the rubikscube colorful and compact carefully on the left of the toycar featuring black and white wheels",
+    "Move the multicolored puzzle cube to the left of the plastic toycar with smooth finish",
+    "With the right arm, place the rubikscube with orange sides left of the plastic toycar with smooth finish",
+    "With the right arm, position the rubikscube cube shape left of the toycar made of plastic material",
+    "Use the right arm to move the rubikscube with smooth plastic tiles to the left of the toycar made of plastic material.",
+    "Grab the rubikscube with rotating faces using the right arm and place it left of the small plastic toycar.",
+    "Move the rubikscube with smooth plastic tiles to the left of the toycar with dark gray windows.",
+    "Drop the rubikscube with smooth plastic tiles to the left of the kids' toycar in bright blue",
+    "Using the right arm, put the rubikscube plastic and smooth on left of the toycar with dark gray windows",
+    "Use the right arm to put the rubikscube with rotating faces left of the toycar with rounded edges",
+    "Use the right arm and place the rubikscube cube shape left of the compact glossy blue toycar.",
+    "Move the rubikscube plastic and smooth to the left of the toycar made of plastic material.",
+    "Stick the rubikscube plastic and smooth on the left of the toycar with dark gray windows",
+    "Set the small square rubikscube to the left of the toycar with black wheels",
+    "With the right arm, move the rubikscube with rotating faces to the left side of the small plastic toycar.",
+    "Adjust the multicolored puzzle cube to rest on the blue toycar with yellow roof accents's left",
+    "With the right arm, position the rubikscube colorful and compact left of the compact glossy blue toycar.",
+    "Position the rubikscube with rotating faces to the left of the small plastic toycar",
+    "Shift the rubikscube cube shape leftward to the side of the plastic toycar with smooth finish",
+    "With the right arm, set the rubikscube with green center tiles on the left of the small plastic toycar.",
+    "Put the rubikscube plastic and smooth to the left of the bright blue toycar with roof buttons",
+    "Set the rubikscube with rotating faces left of the toycar featuring black and white wheels.",
+    "Using the right arm, move the rubikscube colorful and compact left of the compact glossy blue toycar.",
+    "Use the right arm to position the colorful rubikscube left of the plastic toycar with smooth finish",
+    "Drop the rubikscube with orange sides on the left side of the plastic toycar with smooth finish",
+    "Grab the rubikscube with orange sides with the right arm and shift it left of the toycar made of plastic material.",
+    "Place the rubikscube with green center tiles left of the bright blue toycar with roof buttons using the right arm",
+    "Place the colorful rubikscube left of the plastic toycar with smooth finish using the right arm",
+    "Place the rubikscube with smooth plastic tiles carefully to the toycar with dark gray windows's left",
+    "With the right arm, stick the rubikscube with green center tiles left of the blue toycar with yellow roof accents",
+    "Carefully position the rubikscube colorful and compact to the left of the plastic toycar with smooth finish.",
+    "Using the right arm, set the small square rubikscube to the left of the toycar with black wheels.",
+    "Place the rubikscube with orange sides exactly to the left of the plastic toycar with smooth finish",
+    "Grab the yellow-blue rubikscube using the right arm and move left of the toycar with dark gray windows",
+    "Place the multicolored puzzle cube on the left of the kids' toycar in bright blue.",
+    "Grab the multicolored puzzle cube with the right arm and set left of the toycar featuring black and white wheels",
+    "Set the yellow-blue rubikscube on the left side of the toycar with black wheels.",
+    "Put the rubikscube with smooth plastic tiles on the left side of the compact glossy blue toycar",
+    "Shift the small square rubikscube and position it left of the toycar featuring black and white wheels.",
+    "Use the right arm, move the multicolored puzzle cube left of the toycar with dark gray windows",
+    "Set the rubikscube cube shape directly to the left of the toycar made of plastic material",
+    "Place the rubikscube plastic and smooth to rest left of the toycar with rounded edges using the right arm",
+    "Position the yellow-blue rubikscube carefully to the left of the hand-sized rolling toycar.",
+    "Place the rubikscube cube shape directly to the left of the hand-sized rolling toycar.",
+    "Use the right arm to set the yellow-blue rubikscube left of the toycar made of plastic material",
+    "Use the right arm to move the small square rubikscube to the toycar with rounded edges's left",
+    "Position the rubikscube to the left of the toycar featuring black and white wheels.",
+    "Move the yellow-blue rubikscube to the left side of the compact glossy blue toycar",
+    "Using the right arm, place the colorful rubikscube on the left of the small plastic toycar",
+    "Grab the rubikscube with green center tiles using the right arm and place left of the small plastic toycar.",
+    "Set the rubikscube carefully on the left of the blue toycar with yellow roof accents",
+    "Move the small square rubikscube to the left of the plastic toycar with smooth finish",
+    "With the right arm, place the rubikscube with orange sides left of the kids' toycar in bright blue",
+    "With the right arm, position the multicolored puzzle cube left of the toycar with dark gray windows",
+    "Use the right arm to move the rubikscube plastic and smooth to the left of the plastic toycar with smooth finish.",
+    "Grab the rubikscube with green center tiles using the right arm and place it left of the toycar featuring black and white wheels.",
+    "Move the rubikscube cube shape to the left of the toycar with dark gray windows.",
+    "Drop the multicolored puzzle cube to the left of the bright blue toycar with roof buttons",
+    "Using the right arm, put the yellow-blue rubikscube on left of the hand-sized rolling toycar",
+    "Use the right arm to put the rubikscube cube shape left of the toycar with rounded edges",
+    "Use the right arm and place the rubikscube with smooth plastic tiles left of the toycar with rounded edges.",
+    "Move the small square rubikscube to the left of the compact glossy blue toycar.",
+    "Stick the rubikscube plastic and smooth on the left of the toycar with black wheels",
+    "Set the rubikscube plastic and smooth to the left of the bright blue toycar with roof buttons",
+    "With the right arm, move the rubikscube plastic and smooth to the left side of the hand-sized rolling toycar.",
+    "Adjust the rubikscube to rest on the plastic toycar with smooth finish's left",
+    "With the right arm, position the rubikscube colorful and compact left of the kids' toycar in bright blue.",
+    "Position the rubikscube with green center tiles to the left of the plastic toycar with smooth finish",
+    "Shift the rubikscube with rotating faces leftward to the side of the toycar with dark gray windows",
+    "With the right arm, set the rubikscube with rotating faces on the left of the bright blue toycar with roof buttons.",
+    "Put the rubikscube cube shape to the left of the toycar with rounded edges",
+    "Set the small square rubikscube left of the compact glossy blue toycar.",
+    "Using the right arm, move the rubikscube colorful and compact left of the toycar with black wheels.",
+    "Use the right arm to position the rubikscube plastic and smooth left of the small plastic toycar",
+    "Drop the yellow-blue rubikscube on the left side of the toycar with black wheels",
+    "Grab the yellow-blue rubikscube with the right arm and shift it left of the kids' toycar in bright blue.",
+    "Place the rubikscube cube shape left of the blue toycar with yellow roof accents using the right arm",
+    "Place the rubikscube left of the toycar featuring black and white wheels using the right arm",
+    "Place the yellow-blue rubikscube carefully to the plastic toycar with smooth finish's left",
+    "With the right arm, stick the rubikscube with smooth plastic tiles left of the toycar with dark gray windows",
+    "Carefully position the rubikscube cube shape to the left of the small plastic toycar."
+  ],
+  "unseen": [
+    "Set the rubikscube for puzzle solving down to the left of the blue toycar",
+    "Use the right arm to place the rubikscube with yellow top left of the playable toycar with rolling wheels.",
+    "Set the handheld rubikscube on the left side of the blue toycar with yellow buttons",
+    "Set the handheld rubikscube to the left of the blue toycar",
+    "Use the right arm to put the rubikscube for puzzle solving left of the blue toycar with yellow buttons.",
+    "Pick the handheld rubikscube and set it left of the blue toycar with yellow buttons.",
+    "Position the rubikscube for puzzle solving on the left of the playable toycar with rolling wheels",
+    "Place the rubikscube with yellow top to the left of the blue toycar using the right arm",
+    "Grab the rubikscube with yellow top and place left of the blue toycar",
+    "Set the handheld rubikscube on the left side of the blue toycar.",
+    "Set the rubikscube with yellow top down to the left of the playable toycar with rolling wheels",
+    "Use the right arm to place the handheld rubikscube left of the blue toycar with yellow buttons.",
+    "Set the handheld rubikscube on the left side of the blue toycar",
+    "Set the rubikscube with yellow top to the left of the blue toycar with yellow buttons",
+    "Use the right arm to put the handheld rubikscube left of the playable toycar with rolling wheels.",
+    "Pick the rubikscube with yellow top and set it left of the playable toycar with rolling wheels.",
+    "Position the rubikscube for puzzle solving on the left of the blue toycar with yellow buttons",
+    "Place the rubikscube for puzzle solving to the left of the blue toycar with yellow buttons using the right arm",
+    "Grab the handheld rubikscube and place left of the blue toycar with yellow buttons",
+    "Set the rubikscube for puzzle solving on the left side of the blue toycar.",
+    "Set the rubikscube with yellow top down to the left of the playable toycar with rolling wheels",
+    "Use the right arm to place the rubikscube for puzzle solving left of the blue toycar with yellow buttons.",
+    "Set the rubikscube for puzzle solving on the left side of the blue toycar with yellow buttons",
+    "Set the rubikscube with yellow top to the left of the blue toycar with yellow buttons",
+    "Use the right arm to put the rubikscube with yellow top left of the blue toycar.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar with yellow buttons.",
+    "Position the handheld rubikscube on the left of the playable toycar with rolling wheels",
+    "Place the rubikscube with yellow top to the left of the blue toycar with yellow buttons using the right arm",
+    "Grab the rubikscube for puzzle solving and place left of the blue toycar with yellow buttons",
+    "Set the rubikscube for puzzle solving on the left side of the blue toycar with yellow buttons.",
+    "Set the rubikscube with yellow top down to the left of the blue toycar",
+    "Use the right arm to place the rubikscube for puzzle solving left of the playable toycar with rolling wheels.",
+    "Set the rubikscube with yellow top on the left side of the blue toycar",
+    "Set the handheld rubikscube to the left of the blue toycar",
+    "Use the right arm to put the rubikscube with yellow top left of the blue toycar with yellow buttons.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar with yellow buttons.",
+    "Position the handheld rubikscube on the left of the blue toycar",
+    "Place the rubikscube with yellow top to the left of the playable toycar with rolling wheels using the right arm",
+    "Grab the rubikscube with yellow top and place left of the blue toycar",
+    "Set the rubikscube for puzzle solving on the left side of the blue toycar.",
+    "Set the handheld rubikscube down to the left of the blue toycar",
+    "Use the right arm to place the rubikscube for puzzle solving left of the blue toycar.",
+    "Set the rubikscube with yellow top on the left side of the blue toycar with yellow buttons",
+    "Set the handheld rubikscube to the left of the blue toycar with yellow buttons",
+    "Use the right arm to put the handheld rubikscube left of the blue toycar.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar.",
+    "Position the rubikscube with yellow top on the left of the playable toycar with rolling wheels",
+    "Place the rubikscube for puzzle solving to the left of the playable toycar with rolling wheels using the right arm",
+    "Grab the rubikscube with yellow top and place left of the blue toycar",
+    "Set the rubikscube with yellow top on the left side of the blue toycar.",
+    "Set the rubikscube with yellow top down to the left of the blue toycar",
+    "Use the right arm to place the handheld rubikscube left of the blue toycar.",
+    "Set the handheld rubikscube on the left side of the blue toycar with yellow buttons",
+    "Set the handheld rubikscube to the left of the blue toycar",
+    "Use the right arm to put the rubikscube with yellow top left of the blue toycar.",
+    "Pick the handheld rubikscube and set it left of the playable toycar with rolling wheels.",
+    "Position the rubikscube for puzzle solving on the left of the blue toycar",
+    "Place the rubikscube with yellow top to the left of the blue toycar using the right arm",
+    "Grab the handheld rubikscube and place left of the playable toycar with rolling wheels",
+    "Set the rubikscube for puzzle solving on the left side of the playable toycar with rolling wheels.",
+    "Set the handheld rubikscube down to the left of the playable toycar with rolling wheels",
+    "Use the right arm to place the rubikscube for puzzle solving left of the blue toycar with yellow buttons.",
+    "Set the rubikscube with yellow top on the left side of the blue toycar with yellow buttons",
+    "Set the rubikscube for puzzle solving to the left of the blue toycar",
+    "Use the right arm to put the rubikscube with yellow top left of the playable toycar with rolling wheels.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar.",
+    "Position the rubikscube for puzzle solving on the left of the blue toycar with yellow buttons",
+    "Place the rubikscube for puzzle solving to the left of the blue toycar with yellow buttons using the right arm",
+    "Grab the rubikscube with yellow top and place left of the blue toycar with yellow buttons",
+    "Set the handheld rubikscube on the left side of the blue toycar with yellow buttons.",
+    "Set the handheld rubikscube down to the left of the blue toycar with yellow buttons",
+    "Use the right arm to place the rubikscube for puzzle solving left of the playable toycar with rolling wheels.",
+    "Set the handheld rubikscube on the left side of the blue toycar with yellow buttons",
+    "Set the rubikscube for puzzle solving to the left of the blue toycar with yellow buttons",
+    "Use the right arm to put the rubikscube with yellow top left of the blue toycar.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar with yellow buttons.",
+    "Position the handheld rubikscube on the left of the playable toycar with rolling wheels",
+    "Place the rubikscube with yellow top to the left of the playable toycar with rolling wheels using the right arm",
+    "Grab the rubikscube with yellow top and place left of the playable toycar with rolling wheels",
+    "Set the handheld rubikscube on the left side of the playable toycar with rolling wheels.",
+    "Set the rubikscube for puzzle solving down to the left of the playable toycar with rolling wheels",
+    "Use the right arm to place the handheld rubikscube left of the blue toycar with yellow buttons.",
+    "Set the rubikscube for puzzle solving on the left side of the blue toycar",
+    "Set the rubikscube for puzzle solving to the left of the blue toycar",
+    "Use the right arm to put the rubikscube for puzzle solving left of the blue toycar with yellow buttons.",
+    "Pick the rubikscube for puzzle solving and set it left of the blue toycar.",
+    "Position the rubikscube for puzzle solving on the left of the blue toycar with yellow buttons",
+    "Place the rubikscube with yellow top to the left of the blue toycar with yellow buttons using the right arm",
+    "Grab the rubikscube for puzzle solving and place left of the blue toycar",
+    "Set the rubikscube with yellow top on the left side of the blue toycar.",
+    "Set the rubikscube with yellow top down to the left of the playable toycar with rolling wheels",
+    "Use the right arm to place the rubikscube with yellow top left of the blue toycar with yellow buttons.",
+    "Set the rubikscube for puzzle solving on the left side of the playable toycar with rolling wheels",
+    "Set the rubikscube with yellow top to the left of the playable toycar with rolling wheels",
+    "Use the right arm to put the rubikscube for puzzle solving left of the blue toycar with yellow buttons.",
+    "Pick the rubikscube with yellow top and set it left of the blue toycar.",
+    "Position the rubikscube for puzzle solving on the left of the blue toycar with yellow buttons",
+    "Place the rubikscube with yellow top to the left of the playable toycar with rolling wheels using the right arm",
+    "Grab the rubikscube for puzzle solving and place left of the blue toycar with yellow buttons",
+    "Set the rubikscube with yellow top on the left side of the blue toycar with yellow buttons."
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode14.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..97836ffcccd7403f1fee00e88faf793c30bf65b9
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the dark gray palm-sized mouse left of the rectangular glossy black phone using the right arm",
+    "Place the wireless dark gray computer mouse directly to the left of the metal and glass black phone.",
+    "With the right arm, position the rounded computer mouse left of the rectangular glossy black phone.",
+    "Use the right arm to move the rounded computer mouse to the left of the multi-camera black phone.",
+    "Using the right arm, put the dark gray palm-sized mouse on left of the sleek black phone",
+    "Use the right arm to put the mouse with curved top left of the compact rectangular phone",
+    "Use the right arm, move the dark gray mouse with smooth texture left of the multi-camera black phone",
+    "With the right arm, stick the smooth dark gray computer mouse left of the sleek black phone",
+    "With the right arm, position the mouse with ergonomic design left of the smooth black phone",
+    "Use the right arm and place the mouse with curved top left of the sleek black phone.",
+    "Use the right arm to position the plastic mouse left of the compact rectangular phone",
+    "Place the dark gray mouse with smooth texture exactly to the left of the metal and glass black phone",
+    "Use the right arm to move the mouse with ergonomic design to the phone with glass front and back's left",
+    "Shift the wireless dark gray computer mouse leftward to the side of the smooth black phone",
+    "Move the mouse with curved top to the left of the black phone.",
+    "Carefully position the mouse with buttons and wheel to the left of the phone with glass front and back.",
+    "Use the right arm to set the wireless dark gray computer mouse left of the smooth black phone",
+    "With the right arm, move the mouse with curved top to the left side of the metal and glass black phone.",
+    "Put the dark gray palm-sized mouse to the left of the black shiny rectangle phone",
+    "Stick the oval-shaped mouse on the left of the black shiny rectangle phone",
+    "Grab the mouse with curved top using the right arm and move left of the thin phone with smooth texture",
+    "Drop the dark gray mouse on the left side of the thin metallic phone",
+    "Using the right arm, set the smooth dark gray computer mouse to the left of the multi-camera black phone.",
+    "Move the wireless dark gray computer mouse to the left side of the smooth black phone",
+    "Move the plastic mouse to the left of the rectangular glossy black phone",
+    "Set the dark gray mouse to the left of the thin phone with smooth texture",
+    "Put the smooth dark gray computer mouse on the left side of the multi-camera black phone",
+    "Adjust the smooth dark gray computer mouse to rest on the compact rectangular phone's left",
+    "Grab the dark gray palm-sized mouse using the right arm and place left of the thin phone with smooth texture.",
+    "Set the dark gray palm-sized mouse on the left side of the compact rectangular phone.",
+    "Place the mouse with curved top carefully to the smooth black phone's left",
+    "Position the smooth dark gray computer mouse carefully to the left of the sleek black phone.",
+    "Grab the dark gray mouse with smooth texture with the right arm and shift it left of the black phone.",
+    "With the right arm, place the dark gray mouse with smooth texture left of the compact rectangular phone",
+    "Grab the dark gray mouse with the right arm and set left of the metal and glass black phone",
+    "Position the dark gray mouse to the left of the metal and glass black phone.",
+    "Grab the dark gray palm-sized mouse using the right arm and place it left of the rectangular glossy black phone.",
+    "Using the right arm, place the dark gray mouse with smooth texture on the left of the black shiny rectangle phone",
+    "Set the smooth dark gray computer mouse left of the multi-camera black phone.",
+    "Shift the rounded computer mouse and position it left of the multi-camera black phone.",
+    "Set the mouse with curved top directly to the left of the glass-front black phone",
+    "Set the dark gray palm-sized mouse carefully on the left of the glass-front black phone",
+    "Place the mouse with scroll wheel left of the black shiny rectangle phone using the right arm",
+    "Place the dark gray mouse with smooth texture on the left of the metal and glass black phone.",
+    "Drop the rounded computer mouse to the left of the thin metallic phone",
+    "Using the right arm, move the rounded computer mouse left of the black shiny rectangle phone.",
+    "Move the rounded computer mouse to the left of the metal and glass black phone.",
+    "Place the mouse with curved top to rest left of the smooth black phone using the right arm",
+    "With the right arm, set the rounded computer mouse on the left of the phone with glass front and back.",
+    "Position the mouse with scroll wheel to the left of the glass-front black phone",
+    "Place the dark gray mouse with smooth texture left of the sleek black phone using the right arm",
+    "Place the wireless dark gray computer mouse directly to the left of the phone with glass front and back.",
+    "With the right arm, position the rounded computer mouse left of the black phone.",
+    "Use the right arm to move the mouse with scroll wheel to the left of the multi-camera black phone.",
+    "Using the right arm, put the plastic mouse on left of the black shiny rectangle phone",
+    "Use the right arm to put the dark gray mouse with smooth texture left of the smooth black phone",
+    "Use the right arm, move the dark gray mouse with smooth texture left of the smooth black phone",
+    "With the right arm, stick the oval-shaped mouse left of the thin phone with smooth texture",
+    "With the right arm, position the mouse with buttons and wheel left of the glass-front black phone",
+    "Use the right arm and place the rounded computer mouse left of the black shiny rectangle phone.",
+    "Use the right arm to position the plastic mouse left of the thin metallic phone",
+    "Place the mouse with buttons and wheel exactly to the left of the smooth black phone",
+    "Use the right arm to move the smooth dark gray computer mouse to the metal and glass black phone's left",
+    "Shift the wireless dark gray computer mouse leftward to the side of the metal and glass black phone",
+    "Move the mouse with scroll wheel to the left of the phone with glass front and back.",
+    "Carefully position the mouse with scroll wheel to the left of the thin metallic phone.",
+    "Use the right arm to set the dark gray mouse left of the thin phone with smooth texture",
+    "With the right arm, move the plastic mouse to the left side of the sleek black phone.",
+    "Put the dark gray mouse to the left of the rectangular glossy black phone",
+    "Stick the smooth dark gray computer mouse on the left of the rectangular glossy black phone",
+    "Grab the dark gray palm-sized mouse using the right arm and move left of the thin metallic phone",
+    "Drop the mouse with buttons and wheel on the left side of the black phone",
+    "Using the right arm, set the mouse with curved top to the left of the metal and glass black phone.",
+    "Move the wireless dark gray computer mouse to the left side of the sleek black phone",
+    "Move the wireless dark gray computer mouse to the left of the compact rectangular phone",
+    "Set the dark gray mouse to the left of the black phone",
+    "Put the dark gray mouse on the left side of the rectangular glossy black phone",
+    "Adjust the oval-shaped mouse to rest on the metal and glass black phone's left",
+    "Grab the smooth dark gray computer mouse using the right arm and place left of the phone with glass front and back.",
+    "Set the smooth dark gray computer mouse on the left side of the rectangular glossy black phone.",
+    "Place the dark gray mouse carefully to the sleek black phone's left",
+    "Position the plastic mouse carefully to the left of the glass-front black phone.",
+    "Grab the dark gray mouse with the right arm and shift it left of the sleek black phone.",
+    "With the right arm, place the mouse with scroll wheel left of the black phone",
+    "Grab the rounded computer mouse with the right arm and set left of the sleek black phone",
+    "Position the dark gray mouse with smooth texture to the left of the smooth black phone.",
+    "Grab the plastic mouse using the right arm and place it left of the black phone.",
+    "Using the right arm, place the dark gray mouse with smooth texture on the left of the black shiny rectangle phone",
+    "Set the oval-shaped mouse left of the black phone.",
+    "Shift the mouse with ergonomic design and position it left of the multi-camera black phone.",
+    "Set the wireless dark gray computer mouse directly to the left of the thin phone with smooth texture",
+    "Set the smooth dark gray computer mouse carefully on the left of the sleek black phone",
+    "Place the mouse with ergonomic design left of the thin metallic phone using the right arm",
+    "Place the rounded computer mouse on the left of the thin phone with smooth texture.",
+    "Drop the mouse with ergonomic design to the left of the compact rectangular phone",
+    "Using the right arm, move the mouse with scroll wheel left of the phone with glass front and back.",
+    "Move the mouse with curved top to the left of the smooth black phone.",
+    "Place the wireless dark gray computer mouse to rest left of the thin metallic phone using the right arm",
+    "With the right arm, set the mouse with scroll wheel on the left of the sleek black phone.",
+    "Position the mouse with buttons and wheel to the left of the metal and glass black phone"
+  ],
+  "unseen": [
+    "Grab the small rounded plastic mouse and place left of the phone with rounded edges",
+    "Use the right arm to place the dark gray computer mouse with logo left of the phone with shiny black back.",
+    "Set the dark gray computer mouse with logo on the left side of the phone with shiny black back",
+    "Set the small rounded plastic mouse on the left side of the palm-sized phone with glossy finish.",
+    "Set the small rounded plastic mouse to the left of the palm-sized phone with glossy finish",
+    "Position the dark gray computer mouse with logo on the left of the phone with rounded edges",
+    "Place the dark gray computer mouse with logo to the left of the phone with shiny black back using the right arm",
+    "Use the right arm to put the small rounded plastic mouse left of the palm-sized phone with glossy finish.",
+    "Pick the small rounded plastic mouse and set it left of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo down to the left of the phone with rounded edges",
+    "Grab the hand-sized dark gray mouse and place left of the phone with shiny black back",
+    "Use the right arm to place the small rounded plastic mouse left of the phone with shiny black back.",
+    "Set the small rounded plastic mouse on the left side of the palm-sized phone with glossy finish",
+    "Set the hand-sized dark gray mouse on the left side of the palm-sized phone with glossy finish.",
+    "Set the hand-sized dark gray mouse to the left of the phone with shiny black back",
+    "Position the dark gray computer mouse with logo on the left of the phone with shiny black back",
+    "Place the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the dark gray computer mouse with logo left of the phone with rounded edges.",
+    "Pick the dark gray computer mouse with logo and set it left of the phone with rounded edges.",
+    "Set the small rounded plastic mouse down to the left of the palm-sized phone with glossy finish",
+    "Grab the small rounded plastic mouse and place left of the phone with shiny black back",
+    "Use the right arm to place the small rounded plastic mouse left of the phone with rounded edges.",
+    "Set the hand-sized dark gray mouse on the left side of the palm-sized phone with glossy finish",
+    "Set the hand-sized dark gray mouse on the left side of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish",
+    "Position the hand-sized dark gray mouse on the left of the phone with rounded edges",
+    "Place the dark gray computer mouse with logo to the left of the phone with rounded edges using the right arm",
+    "Use the right arm to put the hand-sized dark gray mouse left of the phone with rounded edges.",
+    "Pick the hand-sized dark gray mouse and set it left of the phone with rounded edges.",
+    "Set the small rounded plastic mouse down to the left of the phone with shiny black back",
+    "Grab the hand-sized dark gray mouse and place left of the palm-sized phone with glossy finish",
+    "Use the right arm to place the small rounded plastic mouse left of the phone with shiny black back.",
+    "Set the dark gray computer mouse with logo on the left side of the phone with rounded edges",
+    "Set the hand-sized dark gray mouse on the left side of the phone with shiny black back.",
+    "Set the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish",
+    "Position the small rounded plastic mouse on the left of the palm-sized phone with glossy finish",
+    "Place the small rounded plastic mouse to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the dark gray computer mouse with logo left of the phone with shiny black back.",
+    "Pick the small rounded plastic mouse and set it left of the palm-sized phone with glossy finish.",
+    "Set the small rounded plastic mouse down to the left of the palm-sized phone with glossy finish",
+    "Grab the small rounded plastic mouse and place left of the phone with shiny black back",
+    "Use the right arm to place the hand-sized dark gray mouse left of the phone with rounded edges.",
+    "Set the small rounded plastic mouse on the left side of the phone with shiny black back",
+    "Set the dark gray computer mouse with logo on the left side of the palm-sized phone with glossy finish.",
+    "Set the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish",
+    "Position the small rounded plastic mouse on the left of the phone with rounded edges",
+    "Place the hand-sized dark gray mouse to the left of the phone with shiny black back using the right arm",
+    "Use the right arm to put the dark gray computer mouse with logo left of the palm-sized phone with glossy finish.",
+    "Pick the dark gray computer mouse with logo and set it left of the palm-sized phone with glossy finish.",
+    "Set the dark gray computer mouse with logo down to the left of the phone with rounded edges",
+    "Grab the dark gray computer mouse with logo and place left of the phone with shiny black back",
+    "Use the right arm to place the dark gray computer mouse with logo left of the phone with shiny black back.",
+    "Set the small rounded plastic mouse on the left side of the phone with rounded edges",
+    "Set the small rounded plastic mouse on the left side of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo to the left of the phone with shiny black back",
+    "Position the dark gray computer mouse with logo on the left of the phone with shiny black back",
+    "Place the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the small rounded plastic mouse left of the palm-sized phone with glossy finish.",
+    "Pick the hand-sized dark gray mouse and set it left of the phone with shiny black back.",
+    "Set the small rounded plastic mouse down to the left of the phone with rounded edges",
+    "Grab the dark gray computer mouse with logo and place left of the palm-sized phone with glossy finish",
+    "Use the right arm to place the dark gray computer mouse with logo left of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo on the left side of the phone with rounded edges",
+    "Set the dark gray computer mouse with logo on the left side of the phone with shiny black back.",
+    "Set the small rounded plastic mouse to the left of the phone with shiny black back",
+    "Position the hand-sized dark gray mouse on the left of the phone with shiny black back",
+    "Place the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the small rounded plastic mouse left of the phone with rounded edges.",
+    "Pick the hand-sized dark gray mouse and set it left of the phone with shiny black back.",
+    "Set the hand-sized dark gray mouse down to the left of the palm-sized phone with glossy finish",
+    "Grab the small rounded plastic mouse and place left of the phone with shiny black back",
+    "Use the right arm to place the small rounded plastic mouse left of the phone with shiny black back.",
+    "Set the small rounded plastic mouse on the left side of the phone with rounded edges",
+    "Set the hand-sized dark gray mouse on the left side of the phone with shiny black back.",
+    "Set the small rounded plastic mouse to the left of the phone with rounded edges",
+    "Position the small rounded plastic mouse on the left of the phone with shiny black back",
+    "Place the dark gray computer mouse with logo to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the small rounded plastic mouse left of the phone with rounded edges.",
+    "Pick the dark gray computer mouse with logo and set it left of the phone with shiny black back.",
+    "Set the hand-sized dark gray mouse down to the left of the palm-sized phone with glossy finish",
+    "Grab the dark gray computer mouse with logo and place left of the palm-sized phone with glossy finish",
+    "Use the right arm to place the small rounded plastic mouse left of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo on the left side of the phone with shiny black back",
+    "Set the small rounded plastic mouse on the left side of the phone with shiny black back.",
+    "Set the dark gray computer mouse with logo to the left of the phone with rounded edges",
+    "Position the dark gray computer mouse with logo on the left of the phone with rounded edges",
+    "Place the small rounded plastic mouse to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the dark gray computer mouse with logo left of the phone with rounded edges.",
+    "Pick the dark gray computer mouse with logo and set it left of the palm-sized phone with glossy finish.",
+    "Set the small rounded plastic mouse down to the left of the phone with rounded edges",
+    "Grab the small rounded plastic mouse and place left of the phone with shiny black back",
+    "Use the right arm to place the hand-sized dark gray mouse left of the phone with rounded edges.",
+    "Set the small rounded plastic mouse on the left side of the palm-sized phone with glossy finish",
+    "Set the small rounded plastic mouse on the left side of the phone with rounded edges.",
+    "Set the dark gray computer mouse with logo to the left of the phone with shiny black back",
+    "Position the hand-sized dark gray mouse on the left of the palm-sized phone with glossy finish",
+    "Place the hand-sized dark gray mouse to the left of the palm-sized phone with glossy finish using the right arm",
+    "Use the right arm to put the small rounded plastic mouse left of the phone with rounded edges.",
+    "Pick the small rounded plastic mouse and set it left of the palm-sized phone with glossy finish.",
+    "Set the hand-sized dark gray mouse down to the left of the palm-sized phone with glossy finish"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode15.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfd1f2bfc2c905ea285c66fe411d9d5a78efad7b
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully position the smooth crusty small bread to the left of the mini car toy.",
+    "With the left arm, stick the small golden baked bread left of the miniature teal vehicle toy",
+    "Drop the round bread with crusty texture on the left side of the mini car toy",
+    "Drop the soft golden bread to the left of the play car in teal and white",
+    "Move the smooth crusty small bread to the left side of the small teal plastic car with windows",
+    "Using the left arm, place the smooth crusty small bread on the left of the toycar with white roof and teal body",
+    "Use the left arm to position the golden brown bread with braided design left of the smooth teal car",
+    "Move the bread with golden crust to the left of the toycar with black tires.",
+    "Set the soft golden bread to the left of the miniature teal vehicle toy",
+    "Shift the soft doughy bread leftward to the side of the toycar with white roof and teal body",
+    "Place the smooth crusty small bread to rest left of the rounded teal car toy using the left arm",
+    "Place the braided bread loaf directly to the left of the toycar with glossy finish.",
+    "Grab the round bread with braided top using the left arm and move left of the smooth teal car",
+    "Place the golden bread loaf with soft inside left of the miniature teal vehicle toy using the left arm",
+    "Move the bread with golden crust to the left of the small car toy.",
+    "Position the round bread with braided top to the left of the miniature teal vehicle toy.",
+    "Move the soft golden bread to the left of the play car in teal and white",
+    "Use the left arm, move the golden bread loaf with soft inside left of the rounded teal car toy",
+    "Put the soft doughy bread on the left side of the toycar with white roof and teal body",
+    "Use the left arm to put the smooth crusty small bread left of the miniature teal vehicle toy",
+    "Using the left arm, put the soft golden bread on left of the play car in teal and white",
+    "With the left arm, set the small bread on the left of the toycar with white roof and teal body.",
+    "With the left arm, position the golden bread loaf with soft inside left of the small car toy.",
+    "Using the left arm, move the smooth crusty small bread left of the light teal toycar with white roof.",
+    "Set the golden brown bread on the left side of the compact teal toycar.",
+    "Place the golden bread loaf with soft inside carefully to the compact teal toycar's left",
+    "Place the soft golden bread left of the small teal plastic car with windows using the left arm",
+    "Shift the golden brown bread and position it left of the small teal plastic car with windows.",
+    "Adjust the golden bread loaf with soft inside to rest on the light teal toycar with white roof's left",
+    "Using the left arm, set the soft doughy bread to the left of the miniature teal vehicle toy.",
+    "Use the left arm to move the small golden baked bread to the miniature teal vehicle toy's left",
+    "Position the small bread carefully to the left of the rounded teal car toy.",
+    "Use the left arm to move the small golden baked bread to the left of the light teal toycar with white roof.",
+    "Stick the bread with golden crust on the left of the toycar with white roof and teal body",
+    "Grab the soft doughy bread with the left arm and set left of the small car toy",
+    "Place the golden brown bread with braided design on the left of the rounded teal car toy.",
+    "Set the small golden baked bread directly to the left of the compact teal toycar",
+    "Set the soft golden bread left of the miniature teal vehicle toy.",
+    "Place the golden bread loaf with soft inside exactly to the left of the smooth teal car",
+    "With the left arm, place the smooth crusty small bread left of the small teal plastic car with windows",
+    "Set the golden bread loaf with soft inside carefully on the left of the toycar with glossy finish",
+    "Put the soft golden bread to the left of the toycar with glossy finish",
+    "With the left arm, move the golden brown bread to the left side of the smooth teal car.",
+    "Grab the golden brown bread with the left arm and shift it left of the toycar with white roof and teal body.",
+    "Grab the braided bread loaf using the left arm and place it left of the small teal plastic car with windows.",
+    "Use the left arm to set the round bread with crusty texture left of the toycar with black tires",
+    "Grab the golden brown bread with braided design using the left arm and place left of the toycar with black tires.",
+    "Position the small golden baked bread to the left of the toycar with white roof and teal body",
+    "Use the left arm and place the round bread with braided top left of the toycar with white roof and teal body.",
+    "With the left arm, position the braided bread loaf left of the toycar with glossy finish",
+    "Carefully position the golden brown bread with braided design to the left of the miniature teal vehicle toy.",
+    "With the left arm, stick the small bread left of the miniature teal vehicle toy",
+    "Drop the bread with golden crust on the left side of the miniature teal vehicle toy",
+    "Drop the soft golden bread to the left of the play car in teal and white",
+    "Move the small golden baked bread to the left side of the toycar with glossy finish",
+    "Using the left arm, place the braided bread loaf on the left of the rounded teal car toy",
+    "Use the left arm to position the smooth crusty small bread left of the small teal plastic car with windows",
+    "Move the round bread with crusty texture to the left of the rounded teal car toy.",
+    "Set the round bread with braided top to the left of the toycar with white roof and teal body",
+    "Shift the soft doughy bread leftward to the side of the smooth teal car",
+    "Place the round bread with crusty texture to rest left of the mini car toy using the left arm",
+    "Place the golden brown bread with braided design directly to the left of the small car toy.",
+    "Grab the golden bread loaf with soft inside using the left arm and move left of the smooth teal car",
+    "Place the braided bread loaf left of the toycar with glossy finish using the left arm",
+    "Move the round bread with braided top to the left of the smooth teal car.",
+    "Position the golden bread loaf with soft inside to the left of the toycar with black tires.",
+    "Move the golden bread loaf with soft inside to the left of the small teal plastic car with windows",
+    "Use the left arm, move the round bread with crusty texture left of the toycar with white roof and teal body",
+    "Put the small golden baked bread on the left side of the light teal toycar with white roof",
+    "Use the left arm to put the golden bread loaf with soft inside left of the mini car toy",
+    "Using the left arm, put the braided bread loaf on left of the toycar with glossy finish",
+    "With the left arm, set the golden bread loaf with soft inside on the left of the toycar with white roof and teal body.",
+    "With the left arm, position the small golden baked bread left of the smooth teal car.",
+    "Using the left arm, move the round bread with crusty texture left of the smooth teal car.",
+    "Set the bread with golden crust on the left side of the light teal toycar with white roof.",
+    "Place the braided bread loaf carefully to the toycar with glossy finish's left",
+    "Place the round bread with braided top left of the toycar with white roof and teal body using the left arm",
+    "Shift the braided bread loaf and position it left of the toycar with glossy finish.",
+    "Adjust the braided bread loaf to rest on the toycar with glossy finish's left",
+    "Using the left arm, set the smooth crusty small bread to the left of the light teal toycar with white roof.",
+    "Use the left arm to move the small golden baked bread to the smooth teal car's left",
+    "Position the golden bread loaf with soft inside carefully to the left of the light teal toycar with white roof.",
+    "Use the left arm to move the golden brown bread to the left of the compact teal toycar.",
+    "Stick the smooth crusty small bread on the left of the smooth teal car",
+    "Grab the golden bread loaf with soft inside with the left arm and set left of the small teal plastic car with windows",
+    "Place the small bread on the left of the toycar with white roof and teal body.",
+    "Set the soft doughy bread directly to the left of the compact teal toycar",
+    "Set the soft doughy bread left of the play car in teal and white.",
+    "Place the golden bread loaf with soft inside exactly to the left of the smooth teal car",
+    "With the left arm, place the braided bread loaf left of the toycar with white roof and teal body",
+    "Set the soft doughy bread carefully on the left of the small teal plastic car with windows",
+    "Put the round bread with braided top to the left of the mini car toy",
+    "With the left arm, move the round bread with crusty texture to the left side of the mini car toy.",
+    "Grab the braided bread loaf with the left arm and shift it left of the small car toy.",
+    "Grab the smooth crusty small bread using the left arm and place it left of the mini car toy.",
+    "Use the left arm to set the golden bread loaf with soft inside left of the small car toy",
+    "Grab the round bread with crusty texture using the left arm and place left of the small car toy.",
+    "Position the bread with golden crust to the left of the toycar with black tires",
+    "Use the left arm and place the braided bread loaf left of the small car toy.",
+    "With the left arm, position the braided bread loaf left of the toycar with black tires"
+  ],
+  "unseen": [
+    "Set the round braided loaf down to the left of the plastic teal car with wheels",
+    "Set the palm-sized braided golden bread to the left of the teal toycar",
+    "Pick the palm-sized braided golden bread and set it left of the teal toycar.",
+    "Use the left arm to place the braided top round bread left of the teal toycar.",
+    "Position the palm-sized braided golden bread on the left of the plastic toycar with four spinning wheels",
+    "Use the left arm to put the braided top round bread left of the plastic teal car with wheels.",
+    "Set the palm-sized braided golden bread on the left side of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf on the left side of the teal toycar.",
+    "Place the braided top round bread to the left of the plastic toycar with four spinning wheels using the left arm",
+    "Grab the round braided loaf and place left of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf down to the left of the teal toycar",
+    "Set the braided top round bread to the left of the plastic teal car with wheels",
+    "Pick the palm-sized braided golden bread and set it left of the plastic toycar with four spinning wheels.",
+    "Use the left arm to place the braided top round bread left of the plastic toycar with four spinning wheels.",
+    "Position the round braided loaf on the left of the plastic toycar with four spinning wheels",
+    "Use the left arm to put the palm-sized braided golden bread left of the plastic toycar with four spinning wheels.",
+    "Set the palm-sized braided golden bread on the left side of the plastic teal car with wheels",
+    "Set the braided top round bread on the left side of the plastic teal car with wheels.",
+    "Place the braided top round bread to the left of the plastic toycar with four spinning wheels using the left arm",
+    "Grab the round braided loaf and place left of the plastic teal car with wheels",
+    "Set the braided top round bread down to the left of the plastic teal car with wheels",
+    "Set the palm-sized braided golden bread to the left of the plastic teal car with wheels",
+    "Pick the braided top round bread and set it left of the teal toycar.",
+    "Use the left arm to place the palm-sized braided golden bread left of the teal toycar.",
+    "Position the braided top round bread on the left of the teal toycar",
+    "Use the left arm to put the braided top round bread left of the plastic teal car with wheels.",
+    "Set the round braided loaf on the left side of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf on the left side of the plastic teal car with wheels.",
+    "Place the braided top round bread to the left of the teal toycar using the left arm",
+    "Grab the round braided loaf and place left of the plastic teal car with wheels",
+    "Set the round braided loaf down to the left of the teal toycar",
+    "Set the round braided loaf to the left of the plastic toycar with four spinning wheels",
+    "Pick the round braided loaf and set it left of the plastic toycar with four spinning wheels.",
+    "Use the left arm to place the braided top round bread left of the plastic toycar with four spinning wheels.",
+    "Position the palm-sized braided golden bread on the left of the teal toycar",
+    "Use the left arm to put the braided top round bread left of the plastic toycar with four spinning wheels.",
+    "Set the round braided loaf on the left side of the plastic teal car with wheels",
+    "Set the braided top round bread on the left side of the teal toycar.",
+    "Place the palm-sized braided golden bread to the left of the teal toycar using the left arm",
+    "Grab the braided top round bread and place left of the plastic teal car with wheels",
+    "Set the braided top round bread down to the left of the plastic teal car with wheels",
+    "Set the braided top round bread to the left of the plastic teal car with wheels",
+    "Pick the palm-sized braided golden bread and set it left of the plastic teal car with wheels.",
+    "Use the left arm to place the round braided loaf left of the plastic teal car with wheels.",
+    "Position the palm-sized braided golden bread on the left of the plastic teal car with wheels",
+    "Use the left arm to put the round braided loaf left of the plastic teal car with wheels.",
+    "Set the braided top round bread on the left side of the plastic toycar with four spinning wheels",
+    "Set the palm-sized braided golden bread on the left side of the plastic teal car with wheels.",
+    "Place the palm-sized braided golden bread to the left of the plastic teal car with wheels using the left arm",
+    "Grab the round braided loaf and place left of the teal toycar",
+    "Set the round braided loaf down to the left of the teal toycar",
+    "Set the palm-sized braided golden bread to the left of the plastic toycar with four spinning wheels",
+    "Pick the palm-sized braided golden bread and set it left of the plastic teal car with wheels.",
+    "Use the left arm to place the round braided loaf left of the plastic teal car with wheels.",
+    "Position the braided top round bread on the left of the plastic teal car with wheels",
+    "Use the left arm to put the round braided loaf left of the plastic toycar with four spinning wheels.",
+    "Set the round braided loaf on the left side of the plastic teal car with wheels",
+    "Set the braided top round bread on the left side of the plastic toycar with four spinning wheels.",
+    "Place the palm-sized braided golden bread to the left of the plastic teal car with wheels using the left arm",
+    "Grab the palm-sized braided golden bread and place left of the plastic toycar with four spinning wheels",
+    "Set the braided top round bread down to the left of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf to the left of the plastic toycar with four spinning wheels",
+    "Pick the braided top round bread and set it left of the teal toycar.",
+    "Use the left arm to place the palm-sized braided golden bread left of the plastic teal car with wheels.",
+    "Position the palm-sized braided golden bread on the left of the plastic toycar with four spinning wheels",
+    "Use the left arm to put the braided top round bread left of the plastic teal car with wheels.",
+    "Set the round braided loaf on the left side of the plastic toycar with four spinning wheels",
+    "Set the palm-sized braided golden bread on the left side of the plastic teal car with wheels.",
+    "Place the palm-sized braided golden bread to the left of the plastic teal car with wheels using the left arm",
+    "Grab the round braided loaf and place left of the plastic teal car with wheels",
+    "Set the round braided loaf down to the left of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf to the left of the plastic toycar with four spinning wheels",
+    "Pick the round braided loaf and set it left of the plastic toycar with four spinning wheels.",
+    "Use the left arm to place the palm-sized braided golden bread left of the plastic toycar with four spinning wheels.",
+    "Position the braided top round bread on the left of the plastic teal car with wheels",
+    "Use the left arm to put the round braided loaf left of the plastic toycar with four spinning wheels.",
+    "Set the round braided loaf on the left side of the teal toycar",
+    "Set the round braided loaf on the left side of the plastic toycar with four spinning wheels.",
+    "Place the palm-sized braided golden bread to the left of the plastic toycar with four spinning wheels using the left arm",
+    "Grab the round braided loaf and place left of the teal toycar",
+    "Set the braided top round bread down to the left of the plastic teal car with wheels",
+    "Set the round braided loaf to the left of the plastic teal car with wheels",
+    "Pick the round braided loaf and set it left of the teal toycar.",
+    "Use the left arm to place the palm-sized braided golden bread left of the plastic teal car with wheels.",
+    "Position the palm-sized braided golden bread on the left of the plastic teal car with wheels",
+    "Use the left arm to put the round braided loaf left of the plastic teal car with wheels.",
+    "Set the braided top round bread on the left side of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf on the left side of the plastic teal car with wheels.",
+    "Place the round braided loaf to the left of the teal toycar using the left arm",
+    "Grab the braided top round bread and place left of the plastic toycar with four spinning wheels",
+    "Set the round braided loaf down to the left of the teal toycar",
+    "Set the palm-sized braided golden bread to the left of the plastic teal car with wheels",
+    "Pick the round braided loaf and set it left of the plastic toycar with four spinning wheels.",
+    "Use the left arm to place the palm-sized braided golden bread left of the plastic teal car with wheels.",
+    "Position the braided top round bread on the left of the plastic toycar with four spinning wheels",
+    "Use the left arm to put the braided top round bread left of the plastic teal car with wheels.",
+    "Set the braided top round bread on the left side of the teal toycar",
+    "Set the round braided loaf on the left side of the plastic teal car with wheels.",
+    "Place the palm-sized braided golden bread to the left of the plastic toycar with four spinning wheels using the left arm",
+    "Grab the palm-sized braided golden bread and place left of the plastic toycar with four spinning wheels"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode16.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..f67c8bf2f99c85650d6b5470038d45a76255415f
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, stick the plastic tea-box left of the mouse with sleek design",
+    "Drop the hard plastic tea-box on the left side of the dark mouse with logo on top",
+    "Put the square-shaped tea-box on the left side of the mouse with two buttons and wheel",
+    "Use the left arm to move the tea-box to the small computer mouse's left",
+    "Place the plastic tea-box exactly to the left of the mouse for cursor control",
+    "Use the left arm, move the plastic tea-box left of the gray mouse with smooth surface",
+    "Grab the hard plastic tea-box using the left arm and move left of the smooth plastic mouse",
+    "Set the smooth tea-box carefully on the left of the gray mouse with smooth surface",
+    "Grab the light beige tea-box using the left arm and place left of the palm-fitting mouse.",
+    "Use the left arm to move the hard plastic tea-box to the left of the mouse for cursor control.",
+    "Adjust the tea-box with curved edges to rest on the ergonomic mouse's left",
+    "Move the hard plastic tea-box to the left side of the dark gray mouse",
+    "Place the light beige box for tea left of the mouse with two buttons and wheel using the left arm",
+    "Set the plastic tea-box on the left side of the mouse with sleek design.",
+    "Grab the square-shaped tea-box with the left arm and shift it left of the ergonomic mouse.",
+    "Using the left arm, place the light beige box for tea on the left of the ergonomic mouse",
+    "Position the plastic tea-box to the left of the palm-fitting mouse.",
+    "Put the light beige box for tea to the left of the mouse with two buttons and wheel",
+    "Set the plastic tea-box to the left of the dark mouse with logo on top",
+    "Using the left arm, move the tea-box with curved edges left of the mouse with sleek design.",
+    "Grab the tea-box with top lid using the left arm and place it left of the mouse with sleek design.",
+    "With the left arm, move the square-shaped tea-box to the left side of the mouse with sleek design.",
+    "With the left arm, position the smooth tea-box left of the rounded gray mouse",
+    "Place the light beige tea-box to rest left of the mouse with two buttons and wheel using the left arm",
+    "Move the compact tea-box to the left of the smooth plastic mouse.",
+    "Use the left arm to put the light beige box for tea left of the rounded gray mouse",
+    "Use the left arm to position the smooth tea-box left of the gray mouse with smooth surface",
+    "Using the left arm, put the compact tea-box on left of the palm-fitting mouse",
+    "Move the light beige box for tea to the left of the mouse with two buttons and wheel.",
+    "Shift the compact tea-box and position it left of the mouse with two buttons and wheel.",
+    "With the left arm, position the small rectangular tea-box left of the compact oval-shaped mouse.",
+    "Use the left arm and place the square-shaped tea-box left of the dark gray mouse.",
+    "Move the square-shaped tea-box to the left of the smooth plastic mouse",
+    "With the left arm, set the hard plastic tea-box on the left of the mouse with two buttons and wheel.",
+    "With the left arm, place the tea-box left of the mouse with two buttons and wheel",
+    "Position the hard plastic tea-box carefully to the left of the palm-fitting mouse.",
+    "Carefully position the small rectangular tea-box to the left of the rounded gray mouse.",
+    "Set the beige tea-box with handle directly to the left of the dark gray mouse",
+    "Grab the beige tea-box with handle with the left arm and set left of the palm-fitting mouse",
+    "Place the tea-box carefully to the dark gray mouse's left",
+    "Shift the smooth tea-box leftward to the side of the smooth plastic mouse",
+    "Use the left arm to set the square-shaped tea-box left of the mouse with sleek design",
+    "Stick the light beige tea-box on the left of the smooth plastic mouse",
+    "Drop the hard plastic tea-box to the left of the small computer mouse",
+    "Place the small rectangular tea-box directly to the left of the compact oval-shaped mouse.",
+    "Set the plastic tea-box left of the rounded gray mouse.",
+    "Place the light beige tea-box left of the smooth plastic mouse using the left arm",
+    "Using the left arm, set the square-shaped tea-box to the left of the rounded gray mouse.",
+    "Position the hard plastic tea-box to the left of the compact oval-shaped mouse",
+    "Place the plastic tea-box on the left of the mouse for cursor control.",
+    "With the left arm, stick the square-shaped tea-box left of the palm-fitting mouse",
+    "Drop the light beige tea-box on the left side of the palm-fitting mouse",
+    "Put the tea-box with top lid on the left side of the mouse with sleek design",
+    "Use the left arm to move the plastic tea-box to the dark mouse with logo on top's left",
+    "Place the light beige tea-box exactly to the left of the compact oval-shaped mouse",
+    "Use the left arm, move the tea-box with curved edges left of the mouse with two buttons and wheel",
+    "Grab the small rectangular tea-box using the left arm and move left of the smooth plastic mouse",
+    "Set the tea-box with top lid carefully on the left of the smooth plastic mouse",
+    "Grab the beige tea-box with handle using the left arm and place left of the mouse with sleek design.",
+    "Use the left arm to move the beige tea-box with handle to the left of the dark gray mouse.",
+    "Adjust the beige tea-box with handle to rest on the ergonomic mouse's left",
+    "Move the tea-box to the left side of the small computer mouse",
+    "Place the hard plastic tea-box left of the mouse with two buttons and wheel using the left arm",
+    "Set the light beige box for tea on the left side of the small computer mouse.",
+    "Grab the small rectangular tea-box with the left arm and shift it left of the rounded gray mouse.",
+    "Using the left arm, place the tea-box with top lid on the left of the dark mouse with logo on top",
+    "Position the smooth tea-box to the left of the mouse with sleek design.",
+    "Put the small rectangular tea-box to the left of the dark gray mouse",
+    "Set the compact tea-box to the left of the dark gray mouse",
+    "Using the left arm, move the square-shaped tea-box left of the dark mouse with logo on top.",
+    "Grab the light beige box for tea using the left arm and place it left of the mouse for cursor control.",
+    "With the left arm, move the beige tea-box with handle to the left side of the compact oval-shaped mouse.",
+    "With the left arm, position the light beige tea-box left of the rounded gray mouse",
+    "Place the square-shaped tea-box to rest left of the ergonomic mouse using the left arm",
+    "Move the tea-box with curved edges to the left of the gray mouse with smooth surface.",
+    "Use the left arm to put the light beige tea-box left of the smooth plastic mouse",
+    "Use the left arm to position the smooth tea-box left of the dark mouse with logo on top",
+    "Using the left arm, put the small rectangular tea-box on left of the mouse for cursor control",
+    "Move the small rectangular tea-box to the left of the ergonomic mouse.",
+    "Shift the small rectangular tea-box and position it left of the smooth plastic mouse.",
+    "With the left arm, position the tea-box with curved edges left of the mouse for cursor control.",
+    "Use the left arm and place the light beige box for tea left of the dark gray mouse.",
+    "Move the tea-box to the left of the gray mouse with smooth surface",
+    "With the left arm, set the tea-box with top lid on the left of the smooth plastic mouse.",
+    "With the left arm, place the tea-box left of the dark gray mouse",
+    "Position the tea-box carefully to the left of the mouse with sleek design.",
+    "Carefully position the hard plastic tea-box to the left of the mouse with two buttons and wheel.",
+    "Set the tea-box with top lid directly to the left of the mouse with two buttons and wheel",
+    "Grab the beige tea-box with handle with the left arm and set left of the mouse with two buttons and wheel",
+    "Place the tea-box with curved edges carefully to the dark mouse with logo on top's left",
+    "Shift the compact tea-box leftward to the side of the mouse with sleek design",
+    "Use the left arm to set the tea-box left of the mouse for cursor control",
+    "Stick the light beige box for tea on the left of the gray mouse with smooth surface",
+    "Drop the tea-box with curved edges to the left of the mouse with two buttons and wheel",
+    "Place the small rectangular tea-box directly to the left of the dark gray mouse.",
+    "Set the small rectangular tea-box left of the mouse with two buttons and wheel.",
+    "Place the small rectangular tea-box left of the gray mouse with smooth surface using the left arm",
+    "Using the left arm, set the smooth tea-box to the left of the mouse with two buttons and wheel.",
+    "Position the beige tea-box with handle to the left of the mouse with sleek design",
+    "Place the light beige tea-box on the left of the mouse with sleek design."
+  ],
+  "unseen": [
+    "Use the left arm to place the tea-box with smooth glossy finish left of the hand-sized wireless mouse.",
+    "Use the left arm to put the tea-box with small handle left of the hand-sized wireless mouse.",
+    "Set the glossy tea-box on the left side of the mouse with scroll wheel",
+    "Grab the glossy tea-box and place left of the hand-sized wireless mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the hand-sized wireless mouse.",
+    "Place the tea-box with small handle to the left of the mouse with scroll wheel using the left arm",
+    "Set the glossy tea-box down to the left of the hand-sized wireless mouse",
+    "Set the tea-box with smooth glossy finish on the left side of the flat-bottomed mouse.",
+    "Set the glossy tea-box to the left of the mouse with scroll wheel",
+    "Position the tea-box with small handle on the left of the hand-sized wireless mouse",
+    "Use the left arm to place the tea-box with smooth glossy finish left of the hand-sized wireless mouse.",
+    "Use the left arm to put the glossy tea-box left of the mouse with scroll wheel.",
+    "Set the glossy tea-box on the left side of the flat-bottomed mouse",
+    "Grab the tea-box with small handle and place left of the hand-sized wireless mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the flat-bottomed mouse.",
+    "Place the glossy tea-box to the left of the mouse with scroll wheel using the left arm",
+    "Set the tea-box with smooth glossy finish down to the left of the mouse with scroll wheel",
+    "Set the glossy tea-box on the left side of the mouse with scroll wheel.",
+    "Set the tea-box with small handle to the left of the hand-sized wireless mouse",
+    "Position the tea-box with small handle on the left of the mouse with scroll wheel",
+    "Use the left arm to place the glossy tea-box left of the mouse with scroll wheel.",
+    "Use the left arm to put the tea-box with smooth glossy finish left of the mouse with scroll wheel.",
+    "Set the tea-box with small handle on the left side of the flat-bottomed mouse",
+    "Grab the tea-box with smooth glossy finish and place left of the hand-sized wireless mouse",
+    "Pick the tea-box with small handle and set it left of the mouse with scroll wheel.",
+    "Place the tea-box with smooth glossy finish to the left of the flat-bottomed mouse using the left arm",
+    "Set the glossy tea-box down to the left of the flat-bottomed mouse",
+    "Set the tea-box with small handle on the left side of the flat-bottomed mouse.",
+    "Set the tea-box with smooth glossy finish to the left of the hand-sized wireless mouse",
+    "Position the tea-box with small handle on the left of the hand-sized wireless mouse",
+    "Use the left arm to place the tea-box with smooth glossy finish left of the mouse with scroll wheel.",
+    "Use the left arm to put the tea-box with smooth glossy finish left of the flat-bottomed mouse.",
+    "Set the tea-box with smooth glossy finish on the left side of the flat-bottomed mouse",
+    "Grab the tea-box with smooth glossy finish and place left of the hand-sized wireless mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the hand-sized wireless mouse.",
+    "Place the tea-box with smooth glossy finish to the left of the hand-sized wireless mouse using the left arm",
+    "Set the tea-box with smooth glossy finish down to the left of the mouse with scroll wheel",
+    "Set the glossy tea-box on the left side of the hand-sized wireless mouse.",
+    "Set the glossy tea-box to the left of the flat-bottomed mouse",
+    "Position the glossy tea-box on the left of the flat-bottomed mouse",
+    "Use the left arm to place the glossy tea-box left of the flat-bottomed mouse.",
+    "Use the left arm to put the tea-box with smooth glossy finish left of the mouse with scroll wheel.",
+    "Set the tea-box with smooth glossy finish on the left side of the mouse with scroll wheel",
+    "Grab the glossy tea-box and place left of the flat-bottomed mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the mouse with scroll wheel.",
+    "Place the tea-box with smooth glossy finish to the left of the hand-sized wireless mouse using the left arm",
+    "Set the glossy tea-box down to the left of the hand-sized wireless mouse",
+    "Set the tea-box with smooth glossy finish on the left side of the mouse with scroll wheel.",
+    "Set the tea-box with smooth glossy finish to the left of the mouse with scroll wheel",
+    "Position the glossy tea-box on the left of the hand-sized wireless mouse",
+    "Use the left arm to place the tea-box with small handle left of the mouse with scroll wheel.",
+    "Use the left arm to put the tea-box with small handle left of the hand-sized wireless mouse.",
+    "Set the tea-box with small handle on the left side of the hand-sized wireless mouse",
+    "Grab the tea-box with small handle and place left of the hand-sized wireless mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the mouse with scroll wheel.",
+    "Place the tea-box with smooth glossy finish to the left of the flat-bottomed mouse using the left arm",
+    "Set the tea-box with small handle down to the left of the hand-sized wireless mouse",
+    "Set the tea-box with smooth glossy finish on the left side of the mouse with scroll wheel.",
+    "Set the glossy tea-box to the left of the hand-sized wireless mouse",
+    "Position the tea-box with smooth glossy finish on the left of the hand-sized wireless mouse",
+    "Use the left arm to place the tea-box with small handle left of the mouse with scroll wheel.",
+    "Use the left arm to put the tea-box with small handle left of the mouse with scroll wheel.",
+    "Set the tea-box with smooth glossy finish on the left side of the hand-sized wireless mouse",
+    "Grab the tea-box with small handle and place left of the flat-bottomed mouse",
+    "Pick the tea-box with smooth glossy finish and set it left of the hand-sized wireless mouse.",
+    "Place the tea-box with small handle to the left of the flat-bottomed mouse using the left arm",
+    "Set the tea-box with smooth glossy finish down to the left of the mouse with scroll wheel",
+    "Set the glossy tea-box on the left side of the mouse with scroll wheel.",
+    "Set the glossy tea-box to the left of the hand-sized wireless mouse",
+    "Position the tea-box with smooth glossy finish on the left of the hand-sized wireless mouse",
+    "Use the left arm to place the tea-box with small handle left of the flat-bottomed mouse.",
+    "Use the left arm to put the glossy tea-box left of the mouse with scroll wheel.",
+    "Set the glossy tea-box on the left side of the mouse with scroll wheel",
+    "Grab the tea-box with smooth glossy finish and place left of the mouse with scroll wheel",
+    "Pick the glossy tea-box and set it left of the flat-bottomed mouse.",
+    "Place the glossy tea-box to the left of the flat-bottomed mouse using the left arm",
+    "Set the tea-box with smooth glossy finish down to the left of the mouse with scroll wheel",
+    "Set the tea-box with smooth glossy finish on the left side of the hand-sized wireless mouse.",
+    "Set the glossy tea-box to the left of the flat-bottomed mouse",
+    "Position the tea-box with small handle on the left of the mouse with scroll wheel",
+    "Use the left arm to place the glossy tea-box left of the mouse with scroll wheel.",
+    "Use the left arm to put the tea-box with small handle left of the mouse with scroll wheel.",
+    "Set the glossy tea-box on the left side of the hand-sized wireless mouse",
+    "Grab the tea-box with small handle and place left of the mouse with scroll wheel",
+    "Pick the tea-box with small handle and set it left of the mouse with scroll wheel.",
+    "Place the glossy tea-box to the left of the flat-bottomed mouse using the left arm",
+    "Set the tea-box with smooth glossy finish down to the left of the flat-bottomed mouse",
+    "Set the tea-box with small handle on the left side of the hand-sized wireless mouse.",
+    "Set the tea-box with smooth glossy finish to the left of the mouse with scroll wheel",
+    "Position the tea-box with smooth glossy finish on the left of the flat-bottomed mouse",
+    "Use the left arm to place the tea-box with small handle left of the flat-bottomed mouse.",
+    "Use the left arm to put the tea-box with smooth glossy finish left of the mouse with scroll wheel.",
+    "Set the tea-box with smooth glossy finish on the left side of the mouse with scroll wheel",
+    "Grab the glossy tea-box and place left of the flat-bottomed mouse",
+    "Pick the tea-box with small handle and set it left of the hand-sized wireless mouse.",
+    "Place the tea-box with small handle to the left of the hand-sized wireless mouse using the left arm",
+    "Set the glossy tea-box down to the left of the flat-bottomed mouse",
+    "Set the tea-box with small handle on the left side of the mouse with scroll wheel.",
+    "Set the glossy tea-box to the left of the mouse with scroll wheel",
+    "Position the tea-box with smooth glossy finish on the left of the hand-sized wireless mouse"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode17.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..4efc84e8ba6ac3c3fc7fda890bd4ff0927bedd5f
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the playingcards box with white symbols carefully to the light brown box for coffee's left",
+    "Set the small playingcards container to the left of the light brown coffee-box",
+    "Move the blue playingcards box to the left of the coffee-box with angled top.",
+    "Put the box of playingcards to the left of the cardboard coffee-box",
+    "Grab the blue carton for playingcards using the left arm and place it left of the rectangular coffee-box.",
+    "Drop the playingcards box with white symbols on the left side of the rectangular coffee-box",
+    "Using the left arm, put the rectangular blue playingcards case on left of the cardboard coffee-box",
+    "Carefully position the blue playingcards box to the left of the medium coffee-box.",
+    "Using the left arm, set the playingcards box with white symbols to the left of the light brown coffee-box.",
+    "Use the left arm and place the playingcards pack with blue top left of the cardboard coffee-box.",
+    "Grab the blue carton for playingcards with the left arm and set left of the coffee-box with orange logo",
+    "Place the rectangular blue playingcards case left of the packaging coffee-box using the left arm",
+    "Set the box of playingcards left of the coffee-box with angled top.",
+    "Set the playingcards box with white symbols directly to the left of the coffee-box with slanted side",
+    "Position the smooth playingcards holder to the left of the coffee-box with angled top",
+    "With the left arm, move the blue playingcards box to the left side of the packaging coffee-box.",
+    "Place the rectangular blue playingcards case left of the packaging coffee-box using the left arm",
+    "Shift the playingcards pack with blue top leftward to the side of the smooth coffee-box",
+    "Move the card box with golden designs to the left of the coffee-box with orange logo",
+    "Set the blue playingcards box carefully on the left of the rectangular coffee-box",
+    "Grab the blue playingcards box using the left arm and place left of the medium coffee-box.",
+    "Position the playingcards box with white symbols to the left of the smooth coffee-box.",
+    "Place the playingcards box with white symbols directly to the left of the angled rectangular light brown coffee-box.",
+    "Stick the playingcards pack with blue top on the left of the cardboard coffee-box",
+    "Adjust the blue playingcards box to rest on the orange and brown coffee-box's left",
+    "Use the left arm to set the small playingcards container left of the orange and brown coffee-box",
+    "With the left arm, place the palm-sized playingcards carton left of the coffee-box with angled top",
+    "Drop the palm-sized playingcards carton to the left of the orange and brown coffee-box",
+    "Use the left arm to position the blue playingcards box left of the coffee-box with slanted side",
+    "Set the blue and white playingcards packaging on the left side of the smooth coffee-box.",
+    "Shift the card box with golden designs and position it left of the rectangular coffee-box.",
+    "With the left arm, position the smooth playingcards holder left of the orange and brown coffee-box.",
+    "With the left arm, position the blue pack holding playingcards left of the rectangular coffee-box",
+    "Using the left arm, place the playingcards pack with blue top on the left of the coffee-box with angled top",
+    "Use the left arm, move the small playingcards container left of the medium coffee-box",
+    "Put the playingcards pack with blue top on the left side of the light brown box for coffee",
+    "Use the left arm to move the blue and white playingcards packaging to the left of the light brown coffee-box.",
+    "Use the left arm to put the blue pack holding playingcards left of the packaging coffee-box",
+    "Use the left arm to move the smooth playingcards holder to the coffee-box with slanted side's left",
+    "Place the blue carton for playingcards to rest left of the rectangular coffee-box using the left arm",
+    "Move the playingcards pack with blue top to the left of the light brown coffee-box.",
+    "With the left arm, stick the blue carton for playingcards left of the coffee-box with angled top",
+    "Position the playingcards pack with blue top carefully to the left of the coffee-box with angled top.",
+    "Place the palm-sized playingcards carton exactly to the left of the coffee-box with orange logo",
+    "Place the blue and white playingcards packaging on the left of the orange and brown coffee-box.",
+    "Using the left arm, move the rectangular blue playingcards case left of the orange and brown coffee-box.",
+    "Move the smooth playingcards holder to the left side of the packaging coffee-box",
+    "Grab the playingcards box with white symbols using the left arm and move left of the smooth coffee-box",
+    "With the left arm, set the blue playingcards box on the left of the light brown coffee-box.",
+    "Grab the playingcards box with white symbols with the left arm and shift it left of the rectangular coffee-box.",
+    "Place the box of playingcards carefully to the light brown coffee-box's left",
+    "Set the rectangular blue playingcards case to the left of the light brown box for coffee",
+    "Move the small playingcards container to the left of the coffee-box with orange logo.",
+    "Put the playingcards pack with blue top to the left of the rectangular coffee-box",
+    "Grab the playingcards box with white symbols using the left arm and place it left of the coffee-box with slanted side.",
+    "Drop the playingcards pack with blue top on the left side of the coffee-box with orange logo",
+    "Using the left arm, put the blue pack holding playingcards on left of the light brown coffee-box",
+    "Carefully position the playingcards box with white symbols to the left of the coffee-box with angled top.",
+    "Using the left arm, set the playingcards pack with blue top to the left of the light brown box for coffee.",
+    "Use the left arm and place the playingcards box with white symbols left of the cardboard coffee-box.",
+    "Grab the blue and white playingcards packaging with the left arm and set left of the cardboard coffee-box",
+    "Place the blue and white playingcards packaging left of the packaging coffee-box using the left arm",
+    "Set the card box with golden designs left of the coffee-box with slanted side.",
+    "Set the playingcards pack with blue top directly to the left of the medium coffee-box",
+    "Position the smooth playingcards holder to the left of the coffee-box with slanted side",
+    "With the left arm, move the rectangular blue playingcards case to the left side of the coffee-box with angled top.",
+    "Place the playingcards box with white symbols left of the smooth coffee-box using the left arm",
+    "Shift the rectangular blue playingcards case leftward to the side of the coffee-box with angled top",
+    "Move the palm-sized playingcards carton to the left of the packaging coffee-box",
+    "Set the box of playingcards carefully on the left of the orange and brown coffee-box",
+    "Grab the palm-sized playingcards carton using the left arm and place left of the light brown box for coffee.",
+    "Position the playingcards pack with blue top to the left of the packaging coffee-box.",
+    "Place the blue playingcards box directly to the left of the cardboard coffee-box.",
+    "Stick the palm-sized playingcards carton on the left of the packaging coffee-box",
+    "Adjust the playingcards box with white symbols to rest on the smooth coffee-box's left",
+    "Use the left arm to set the blue playingcards box left of the angled rectangular light brown coffee-box",
+    "With the left arm, place the blue playingcards box left of the coffee-box with slanted side",
+    "Drop the box of playingcards to the left of the cardboard coffee-box",
+    "Use the left arm to position the box of playingcards left of the coffee-box with slanted side",
+    "Set the blue carton for playingcards on the left side of the rectangular coffee-box.",
+    "Shift the rectangular blue playingcards case and position it left of the rectangular coffee-box.",
+    "With the left arm, position the blue playingcards box left of the medium coffee-box.",
+    "With the left arm, position the card box with golden designs left of the light brown coffee-box",
+    "Using the left arm, place the playingcards box with white symbols on the left of the orange and brown coffee-box",
+    "Use the left arm, move the blue and white playingcards packaging left of the cardboard coffee-box",
+    "Put the rectangular blue playingcards case on the left side of the cardboard coffee-box",
+    "Use the left arm to move the playingcards box with white symbols to the left of the coffee-box with slanted side.",
+    "Use the left arm to put the blue carton for playingcards left of the packaging coffee-box",
+    "Use the left arm to move the blue playingcards box to the light brown coffee-box's left",
+    "Place the palm-sized playingcards carton to rest left of the angled rectangular light brown coffee-box using the left arm",
+    "Move the card box with golden designs to the left of the light brown box for coffee.",
+    "With the left arm, stick the playingcards box with white symbols left of the packaging coffee-box",
+    "Position the box of playingcards carefully to the left of the coffee-box with slanted side.",
+    "Place the rectangular blue playingcards case exactly to the left of the light brown box for coffee",
+    "Place the blue pack holding playingcards on the left of the packaging coffee-box.",
+    "Using the left arm, move the blue playingcards box left of the orange and brown coffee-box.",
+    "Move the playingcards pack with blue top to the left side of the coffee-box with orange logo",
+    "Grab the card box with golden designs using the left arm and move left of the light brown coffee-box",
+    "With the left arm, set the blue pack holding playingcards on the left of the medium coffee-box.",
+    "Grab the blue playingcards box with the left arm and shift it left of the light brown coffee-box."
+  ],
+  "unseen": [
+    "Use the left arm to put the rectangular playingcards pack left of the box with coffee mug design.",
+    "Set the small packet of playingcards to the left of the coffee-box rectangular with smooth texture",
+    "Pick the rectangular playingcards case with patterns and set it left of the coffee-box rectangular with smooth texture.",
+    "Set the rectangular playingcards pack on the left side of the coffee-box with mug image.",
+    "Grab the rectangular playingcards case with patterns and place left of the coffee-box with mug image",
+    "Set the small packet of playingcards down to the left of the coffee-box rectangular with smooth texture",
+    "Set the rectangular playingcards case with patterns on the left side of the coffee-box rectangular with smooth texture",
+    "Use the left arm to place the small packet of playingcards left of the coffee-box with mug image.",
+    "Position the small packet of playingcards on the left of the coffee-box with mug image",
+    "Place the rectangular playingcards case with patterns to the left of the coffee-box rectangular with smooth texture using the left arm",
+    "Use the left arm to put the rectangular playingcards case with patterns left of the coffee-box rectangular with smooth texture.",
+    "Set the rectangular playingcards case with patterns to the left of the box with coffee mug design",
+    "Pick the rectangular playingcards case with patterns and set it left of the coffee-box with mug image.",
+    "Set the small packet of playingcards on the left side of the coffee-box rectangular with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place left of the coffee-box with mug image",
+    "Set the rectangular playingcards case with patterns down to the left of the coffee-box rectangular with smooth texture",
+    "Set the rectangular playingcards pack on the left side of the box with coffee mug design",
+    "Use the left arm to place the small packet of playingcards left of the box with coffee mug design.",
+    "Position the rectangular playingcards case with patterns on the left of the coffee-box with mug image",
+    "Place the small packet of playingcards to the left of the coffee-box rectangular with smooth texture using the left arm",
+    "Use the left arm to put the rectangular playingcards case with patterns left of the coffee-box rectangular with smooth texture.",
+    "Set the rectangular playingcards case with patterns to the left of the coffee-box rectangular with smooth texture",
+    "Pick the small packet of playingcards and set it left of the coffee-box rectangular with smooth texture.",
+    "Set the small packet of playingcards on the left side of the box with coffee mug design.",
+    "Grab the rectangular playingcards case with patterns and place left of the coffee-box with mug image",
+    "Set the rectangular playingcards case with patterns down to the left of the box with coffee mug design",
+    "Set the rectangular playingcards pack on the left side of the box with coffee mug design",
+    "Use the left arm to place the rectangular playingcards pack left of the box with coffee mug design.",
+    "Position the rectangular playingcards pack on the left of the box with coffee mug design",
+    "Place the small packet of playingcards to the left of the box with coffee mug design using the left arm",
+    "Use the left arm to put the rectangular playingcards pack left of the coffee-box with mug image.",
+    "Set the rectangular playingcards case with patterns to the left of the box with coffee mug design",
+    "Pick the rectangular playingcards case with patterns and set it left of the box with coffee mug design.",
+    "Set the rectangular playingcards case with patterns on the left side of the box with coffee mug design.",
+    "Grab the small packet of playingcards and place left of the box with coffee mug design",
+    "Set the rectangular playingcards pack down to the left of the box with coffee mug design",
+    "Set the rectangular playingcards case with patterns on the left side of the coffee-box with mug image",
+    "Use the left arm to place the rectangular playingcards pack left of the box with coffee mug design.",
+    "Position the small packet of playingcards on the left of the coffee-box rectangular with smooth texture",
+    "Place the rectangular playingcards case with patterns to the left of the box with coffee mug design using the left arm",
+    "Use the left arm to put the rectangular playingcards pack left of the coffee-box with mug image.",
+    "Set the rectangular playingcards case with patterns to the left of the coffee-box rectangular with smooth texture",
+    "Pick the rectangular playingcards case with patterns and set it left of the coffee-box with mug image.",
+    "Set the rectangular playingcards case with patterns on the left side of the coffee-box rectangular with smooth texture.",
+    "Grab the small packet of playingcards and place left of the coffee-box with mug image",
+    "Set the rectangular playingcards pack down to the left of the box with coffee mug design",
+    "Set the rectangular playingcards pack on the left side of the coffee-box rectangular with smooth texture",
+    "Use the left arm to place the rectangular playingcards pack left of the coffee-box with mug image.",
+    "Position the small packet of playingcards on the left of the coffee-box rectangular with smooth texture",
+    "Place the rectangular playingcards case with patterns to the left of the coffee-box with mug image using the left arm",
+    "Use the left arm to put the rectangular playingcards pack left of the coffee-box rectangular with smooth texture.",
+    "Set the small packet of playingcards to the left of the box with coffee mug design",
+    "Pick the rectangular playingcards case with patterns and set it left of the coffee-box with mug image.",
+    "Set the small packet of playingcards on the left side of the box with coffee mug design.",
+    "Grab the rectangular playingcards pack and place left of the coffee-box with mug image",
+    "Set the rectangular playingcards case with patterns down to the left of the coffee-box with mug image",
+    "Set the small packet of playingcards on the left side of the coffee-box with mug image",
+    "Use the left arm to place the small packet of playingcards left of the box with coffee mug design.",
+    "Position the rectangular playingcards case with patterns on the left of the coffee-box rectangular with smooth texture",
+    "Place the rectangular playingcards pack to the left of the box with coffee mug design using the left arm",
+    "Use the left arm to put the rectangular playingcards case with patterns left of the coffee-box with mug image.",
+    "Set the rectangular playingcards case with patterns to the left of the coffee-box with mug image",
+    "Pick the small packet of playingcards and set it left of the box with coffee mug design.",
+    "Set the rectangular playingcards case with patterns on the left side of the coffee-box rectangular with smooth texture.",
+    "Grab the rectangular playingcards pack and place left of the box with coffee mug design",
+    "Set the small packet of playingcards down to the left of the coffee-box rectangular with smooth texture",
+    "Set the small packet of playingcards on the left side of the coffee-box with mug image",
+    "Use the left arm to place the rectangular playingcards pack left of the coffee-box with mug image.",
+    "Position the rectangular playingcards case with patterns on the left of the coffee-box with mug image",
+    "Place the small packet of playingcards to the left of the coffee-box rectangular with smooth texture using the left arm",
+    "Use the left arm to put the rectangular playingcards pack left of the box with coffee mug design.",
+    "Set the rectangular playingcards pack to the left of the box with coffee mug design",
+    "Pick the small packet of playingcards and set it left of the coffee-box rectangular with smooth texture.",
+    "Set the small packet of playingcards on the left side of the coffee-box rectangular with smooth texture.",
+    "Grab the rectangular playingcards pack and place left of the coffee-box rectangular with smooth texture",
+    "Set the rectangular playingcards case with patterns down to the left of the coffee-box rectangular with smooth texture",
+    "Set the small packet of playingcards on the left side of the coffee-box rectangular with smooth texture",
+    "Use the left arm to place the rectangular playingcards case with patterns left of the coffee-box rectangular with smooth texture.",
+    "Position the rectangular playingcards case with patterns on the left of the box with coffee mug design",
+    "Place the rectangular playingcards case with patterns to the left of the box with coffee mug design using the left arm",
+    "Use the left arm to put the rectangular playingcards case with patterns left of the coffee-box rectangular with smooth texture.",
+    "Set the rectangular playingcards case with patterns to the left of the coffee-box rectangular with smooth texture",
+    "Pick the small packet of playingcards and set it left of the box with coffee mug design.",
+    "Set the rectangular playingcards case with patterns on the left side of the coffee-box with mug image.",
+    "Grab the rectangular playingcards case with patterns and place left of the box with coffee mug design",
+    "Set the rectangular playingcards case with patterns down to the left of the coffee-box with mug image",
+    "Set the rectangular playingcards case with patterns on the left side of the box with coffee mug design",
+    "Use the left arm to place the rectangular playingcards pack left of the coffee-box rectangular with smooth texture.",
+    "Position the small packet of playingcards on the left of the coffee-box with mug image",
+    "Place the small packet of playingcards to the left of the coffee-box with mug image using the left arm",
+    "Use the left arm to put the rectangular playingcards case with patterns left of the coffee-box rectangular with smooth texture.",
+    "Set the rectangular playingcards pack to the left of the coffee-box rectangular with smooth texture",
+    "Pick the small packet of playingcards and set it left of the coffee-box with mug image.",
+    "Set the small packet of playingcards on the left side of the coffee-box with mug image.",
+    "Grab the rectangular playingcards pack and place left of the coffee-box with mug image",
+    "Set the rectangular playingcards pack down to the left of the coffee-box with mug image",
+    "Set the rectangular playingcards pack on the left side of the coffee-box with mug image",
+    "Use the left arm to place the rectangular playingcards pack left of the coffee-box with mug image.",
+    "Position the rectangular playingcards case with patterns on the left of the box with coffee mug design",
+    "Place the small packet of playingcards to the left of the coffee-box with mug image using the left arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode18.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..defd81a11156835212cfd13506724db196636b4e
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the small black box with cards to the left of the smooth soap with grainy spots",
+    "With the right arm, move the black box with rectangular shape to the left side of the cleaning soap with spotted texture.",
+    "Carefully position the rectangle-shaped cards box to the left of the solid brown cleaning soap.",
+    "Use the right arm to move the box holding playing cards to the soap with tan specks's left",
+    "Shift the black playing cards box and position it left of the small dark cleaning soap.",
+    "Shift the cardboard playing cards box leftward to the side of the smooth soap with grainy spots",
+    "Grab the playing cards box with gold text with the right arm and set left of the smooth soap with grainy spots",
+    "Using the right arm, put the palm-sized box for playing cards on left of the smooth soap with grainy spots",
+    "Place the compact box for playing cards exactly to the left of the soap with uneven tan grains",
+    "Drop the black box with rectangular shape on the left side of the rounded bar of dark soap",
+    "Position the black box with rectangular shape to the left of the dark soap bar",
+    "Move the playing cards box with gold text to the left of the smooth soap with grainy spots",
+    "Set the compact box for playing cards directly to the left of the soap with tan specks",
+    "Grab the palm-sized box for playing cards using the right arm and place it left of the solid brown cleaning soap.",
+    "Move the box holding playing cards to the left of the rectangular soap with rounded edges.",
+    "With the right arm, set the compact box for playing cards on the left of the soap bar with curved edges.",
+    "Use the right arm to put the cardboard playing cards box left of the soap with tan specks",
+    "Set the black box with rectangular shape to the left of the soap with tan specks",
+    "With the right arm, position the black box with rectangular shape left of the soap with uneven tan grains",
+    "Move the box holding playing cards to the left side of the cleaning soap with spotted texture",
+    "With the right arm, place the rectangular box for card storage left of the smooth soap with grainy spots",
+    "Using the right arm, move the box holding playing cards left of the grainy brown soap.",
+    "Place the box holding playing cards left of the soap with tan specks using the right arm",
+    "Set the playing cards box with gold text left of the dark brown hand-sized soap.",
+    "Move the box holding playing cards to the left of the soap bar with curved edges.",
+    "Using the right arm, set the black box with rectangular shape to the left of the soap bar with curved edges.",
+    "With the right arm, position the cardboard playing cards box left of the cleaning soap with spotted texture.",
+    "Use the right arm to move the playing cards box with gold text to the left of the grainy brown soap.",
+    "With the right arm, stick the box with cards inside left of the small dark cleaning soap",
+    "Put the rectangular box for card storage on the left side of the soap bar with curved edges",
+    "Position the black box with rectangular shape carefully to the left of the soap with uneven tan grains.",
+    "Use the right arm to set the palm-sized box for playing cards left of the grainy brown soap",
+    "Use the right arm to position the rectangular box for card storage left of the cleaning soap with spotted texture",
+    "Put the rectangle-shaped cards box to the left of the cleaning soap with spotted texture",
+    "Place the cardboard playing cards box to rest left of the cleaning soap with spotted texture using the right arm",
+    "Place the box holding playing cards on the left of the dark soap bar.",
+    "Adjust the box holding playing cards to rest on the small dark cleaning soap's left",
+    "Use the right arm and place the rectangle-shaped cards box left of the rectangular soap with rounded edges.",
+    "Place the smooth black cards container directly to the left of the dark soap bar.",
+    "Set the rectangular box for card storage carefully on the left of the dark brown hand-sized soap",
+    "Position the playing cards box with gold text to the left of the soap bar with curved edges.",
+    "Use the right arm, move the small black box with cards left of the soap with uneven tan grains",
+    "Using the right arm, place the black playing cards box on the left of the soap with uneven tan grains",
+    "Place the compact box for playing cards carefully to the rounded bar of dark soap's left",
+    "Place the small black box with cards left of the soap with tan specks using the right arm",
+    "Grab the small black box with cards using the right arm and place left of the smooth soap with grainy spots.",
+    "Stick the black playing cards box on the left of the solid brown cleaning soap",
+    "Set the black playing cards box on the left side of the solid brown cleaning soap.",
+    "Grab the smooth black cards container using the right arm and move left of the soap with tan specks",
+    "Grab the black playing cards box with the right arm and shift it left of the small dark cleaning soap.",
+    "Drop the rectangle-shaped cards box to the left of the dark soap bar",
+    "With the right arm, move the small black box with cards to the left side of the dark brown hand-sized soap.",
+    "Carefully position the black box with rectangular shape to the left of the dark soap bar.",
+    "Use the right arm to move the box holding playing cards to the solid brown cleaning soap's left",
+    "Shift the small black box with cards and position it left of the soap with uneven tan grains.",
+    "Shift the playing cards box with gold text leftward to the side of the soap bar with curved edges",
+    "Grab the smooth black cards container with the right arm and set left of the smooth soap with grainy spots",
+    "Using the right arm, put the black box with rectangular shape on left of the soap with tan specks",
+    "Place the compact box for playing cards exactly to the left of the rectangular soap with rounded edges",
+    "Drop the black playing cards box on the left side of the cleaning soap with spotted texture",
+    "Position the rectangular box for card storage to the left of the small dark cleaning soap",
+    "Move the small black box with cards to the left of the small dark cleaning soap",
+    "Set the rectangular box for card storage directly to the left of the soap bar with curved edges",
+    "Grab the small black box with cards using the right arm and place it left of the soap bar with curved edges.",
+    "Move the playing cards box with gold text to the left of the dark brown hand-sized soap.",
+    "With the right arm, set the black playing cards box on the left of the small dark cleaning soap.",
+    "Use the right arm to put the cardboard playing cards box left of the soap with tan specks",
+    "Set the black box with rectangular shape to the left of the small dark cleaning soap",
+    "With the right arm, position the rectangle-shaped cards box left of the small dark cleaning soap",
+    "Move the palm-sized box for playing cards to the left side of the rounded bar of dark soap",
+    "With the right arm, place the palm-sized box for playing cards left of the smooth soap with grainy spots",
+    "Using the right arm, move the black playing cards box left of the solid brown cleaning soap.",
+    "Place the rectangular box for card storage left of the rectangular soap with rounded edges using the right arm",
+    "Set the smooth black cards container left of the cleaning soap with spotted texture.",
+    "Move the rectangle-shaped cards box to the left of the rounded bar of dark soap.",
+    "Using the right arm, set the compact box for playing cards to the left of the soap bar with curved edges.",
+    "With the right arm, position the black playing cards box left of the soap with tan specks.",
+    "Use the right arm to move the palm-sized box for playing cards to the left of the smooth soap with grainy spots.",
+    "With the right arm, stick the black box with rectangular shape left of the solid brown cleaning soap",
+    "Put the cardboard playing cards box on the left side of the grainy brown soap",
+    "Position the cardboard playing cards box carefully to the left of the rectangular soap with rounded edges.",
+    "Use the right arm to set the cardboard playing cards box left of the smooth soap with grainy spots",
+    "Use the right arm to position the small black box with cards left of the cleaning soap with spotted texture",
+    "Put the smooth black cards container to the left of the soap with tan specks",
+    "Place the smooth black cards container to rest left of the soap with uneven tan grains using the right arm",
+    "Place the compact box for playing cards on the left of the cleaning soap with spotted texture.",
+    "Adjust the black box with rectangular shape to rest on the dark soap bar's left",
+    "Use the right arm and place the rectangular box for card storage left of the solid brown cleaning soap.",
+    "Place the rectangle-shaped cards box directly to the left of the rectangular soap with rounded edges.",
+    "Set the black playing cards box carefully on the left of the dark brown hand-sized soap",
+    "Position the small black box with cards to the left of the rectangular soap with rounded edges.",
+    "Use the right arm, move the smooth black cards container left of the rectangular soap with rounded edges",
+    "Using the right arm, place the black playing cards box on the left of the rectangular soap with rounded edges",
+    "Place the rectangular box for card storage carefully to the rounded bar of dark soap's left",
+    "Place the rectangle-shaped cards box left of the soap with uneven tan grains using the right arm",
+    "Grab the playing cards box with gold text using the right arm and place left of the smooth soap with grainy spots.",
+    "Stick the compact box for playing cards on the left of the soap bar with curved edges",
+    "Set the palm-sized box for playing cards on the left side of the soap bar with curved edges.",
+    "Grab the box with cards inside using the right arm and move left of the smooth soap with grainy spots",
+    "Grab the compact box for playing cards with the right arm and shift it left of the soap with uneven tan grains."
+  ],
+  "unseen": [
+    "Use the right arm to put the black box with smooth surface left of the skincare soap bar.",
+    "Position the black box with smooth surface on the left of the skincare soap bar",
+    "Set the gold text on playing cards box on the left side of the dark bar soap.",
+    "Set the black box with smooth surface to the left of the dark bar soap",
+    "Pick the gold text on playing cards box and set it left of the skincare soap bar.",
+    "Use the right arm to place the black box with smooth surface left of the brown soap.",
+    "Set the hard black box for card deck on the left side of the skincare soap bar",
+    "Place the hard black box for card deck to the left of the skincare soap bar using the right arm",
+    "Grab the gold text on playing cards box and place left of the dark bar soap",
+    "Set the hard black box for card deck down to the left of the brown soap",
+    "Use the right arm to put the gold text on playing cards box left of the brown soap.",
+    "Position the hard black box for card deck on the left of the brown soap",
+    "Set the gold text on playing cards box on the left side of the dark bar soap.",
+    "Set the hard black box for card deck to the left of the brown soap",
+    "Pick the hard black box for card deck and set it left of the skincare soap bar.",
+    "Use the right arm to place the gold text on playing cards box left of the skincare soap bar.",
+    "Set the hard black box for card deck on the left side of the brown soap",
+    "Place the hard black box for card deck to the left of the dark bar soap using the right arm",
+    "Grab the black box with smooth surface and place left of the dark bar soap",
+    "Set the hard black box for card deck down to the left of the brown soap",
+    "Use the right arm to put the gold text on playing cards box left of the dark bar soap.",
+    "Position the black box with smooth surface on the left of the dark bar soap",
+    "Set the gold text on playing cards box on the left side of the brown soap.",
+    "Set the hard black box for card deck to the left of the dark bar soap",
+    "Pick the black box with smooth surface and set it left of the skincare soap bar.",
+    "Use the right arm to place the black box with smooth surface left of the brown soap.",
+    "Set the black box with smooth surface on the left side of the dark bar soap",
+    "Place the black box with smooth surface to the left of the skincare soap bar using the right arm",
+    "Grab the black box with smooth surface and place left of the dark bar soap",
+    "Set the black box with smooth surface down to the left of the dark bar soap",
+    "Use the right arm to put the gold text on playing cards box left of the dark bar soap.",
+    "Position the gold text on playing cards box on the left of the brown soap",
+    "Set the hard black box for card deck on the left side of the dark bar soap.",
+    "Set the hard black box for card deck to the left of the skincare soap bar",
+    "Pick the hard black box for card deck and set it left of the dark bar soap.",
+    "Use the right arm to place the hard black box for card deck left of the skincare soap bar.",
+    "Set the hard black box for card deck on the left side of the skincare soap bar",
+    "Place the hard black box for card deck to the left of the dark bar soap using the right arm",
+    "Grab the gold text on playing cards box and place left of the skincare soap bar",
+    "Set the hard black box for card deck down to the left of the brown soap",
+    "Use the right arm to put the hard black box for card deck left of the dark bar soap.",
+    "Position the gold text on playing cards box on the left of the dark bar soap",
+    "Set the hard black box for card deck on the left side of the skincare soap bar.",
+    "Set the black box with smooth surface to the left of the skincare soap bar",
+    "Pick the gold text on playing cards box and set it left of the brown soap.",
+    "Use the right arm to place the hard black box for card deck left of the dark bar soap.",
+    "Set the hard black box for card deck on the left side of the skincare soap bar",
+    "Place the gold text on playing cards box to the left of the dark bar soap using the right arm",
+    "Grab the gold text on playing cards box and place left of the brown soap",
+    "Set the hard black box for card deck down to the left of the skincare soap bar",
+    "Use the right arm to put the black box with smooth surface left of the skincare soap bar.",
+    "Position the gold text on playing cards box on the left of the dark bar soap",
+    "Set the hard black box for card deck on the left side of the brown soap.",
+    "Set the gold text on playing cards box to the left of the brown soap",
+    "Pick the gold text on playing cards box and set it left of the skincare soap bar.",
+    "Use the right arm to place the gold text on playing cards box left of the brown soap.",
+    "Set the black box with smooth surface on the left side of the skincare soap bar",
+    "Place the black box with smooth surface to the left of the dark bar soap using the right arm",
+    "Grab the hard black box for card deck and place left of the dark bar soap",
+    "Set the black box with smooth surface down to the left of the dark bar soap",
+    "Use the right arm to put the hard black box for card deck left of the dark bar soap.",
+    "Position the black box with smooth surface on the left of the brown soap",
+    "Set the hard black box for card deck on the left side of the dark bar soap.",
+    "Set the hard black box for card deck to the left of the dark bar soap",
+    "Pick the hard black box for card deck and set it left of the brown soap.",
+    "Use the right arm to place the black box with smooth surface left of the brown soap.",
+    "Set the gold text on playing cards box on the left side of the dark bar soap",
+    "Place the black box with smooth surface to the left of the brown soap using the right arm",
+    "Grab the hard black box for card deck and place left of the dark bar soap",
+    "Set the black box with smooth surface down to the left of the dark bar soap",
+    "Use the right arm to put the black box with smooth surface left of the skincare soap bar.",
+    "Position the black box with smooth surface on the left of the dark bar soap",
+    "Set the gold text on playing cards box on the left side of the brown soap.",
+    "Set the hard black box for card deck to the left of the skincare soap bar",
+    "Pick the black box with smooth surface and set it left of the brown soap.",
+    "Use the right arm to place the black box with smooth surface left of the brown soap.",
+    "Set the gold text on playing cards box on the left side of the brown soap",
+    "Place the black box with smooth surface to the left of the skincare soap bar using the right arm",
+    "Grab the black box with smooth surface and place left of the brown soap",
+    "Set the black box with smooth surface down to the left of the dark bar soap",
+    "Use the right arm to put the gold text on playing cards box left of the dark bar soap.",
+    "Position the hard black box for card deck on the left of the brown soap",
+    "Set the black box with smooth surface on the left side of the skincare soap bar.",
+    "Set the black box with smooth surface to the left of the dark bar soap",
+    "Pick the gold text on playing cards box and set it left of the skincare soap bar.",
+    "Use the right arm to place the gold text on playing cards box left of the brown soap.",
+    "Set the hard black box for card deck on the left side of the brown soap",
+    "Place the gold text on playing cards box to the left of the dark bar soap using the right arm",
+    "Grab the hard black box for card deck and place left of the brown soap",
+    "Set the hard black box for card deck down to the left of the skincare soap bar",
+    "Use the right arm to put the hard black box for card deck left of the dark bar soap.",
+    "Position the hard black box for card deck on the left of the brown soap",
+    "Set the black box with smooth surface on the left side of the dark bar soap.",
+    "Set the gold text on playing cards box to the left of the skincare soap bar",
+    "Pick the hard black box for card deck and set it left of the dark bar soap.",
+    "Use the right arm to place the gold text on playing cards box left of the skincare soap bar.",
+    "Set the hard black box for card deck on the left side of the dark bar soap",
+    "Place the gold text on playing cards box to the left of the brown soap using the right arm",
+    "Grab the gold text on playing cards box and place left of the dark bar soap",
+    "Set the gold text on playing cards box down to the left of the skincare soap bar"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode19.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3be7935f2d65e50204d27911e5769feaabd9096
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small box with golden patterns with the right arm and shift it left of the gray rectangular soap with angled edges.",
+    "Set the beige cube with golden leaf patterns carefully on the left of the light gray rectangular cleaning soap",
+    "Use the right arm, move the small cube-shaped tea container left of the small solid gray cleaning soap",
+    "Using the right arm, move the small box with golden patterns left of the light gray soap with angled ends.",
+    "Put the cube tea box with embossed designs on the left side of the light gray soap bar",
+    "Put the box for tea storage to the left of the light gray rectangular cleaning soap",
+    "Place the small cube-shaped tea container left of the slanted rectangular soap using the right arm",
+    "Set the light beige box with embossed gold leaf left of the gray rectangular soap with angled edges.",
+    "Adjust the light beige box with embossed gold leaf to rest on the small solid gray cleaning soap's left",
+    "Position the small cube-shaped tea container to the left of the solid rectangular soap",
+    "Using the right arm, put the compact beige box for tea on left of the soap bar",
+    "Shift the small cube-shaped tea container and position it left of the gray soap.",
+    "With the right arm, position the small tea box with gold patterns left of the smooth gray bar of soap.",
+    "Place the smooth cube with golden leaf designs left of the slanted soap with smooth surface using the right arm",
+    "Set the gold-decorated beige tea box to the left of the soap bar",
+    "Grab the gold-decorated beige tea box using the right arm and place left of the soap bar.",
+    "Set the small tea box with gold patterns directly to the left of the solid rectangular soap",
+    "Carefully position the small tea box with gold patterns to the left of the solid rectangular soap.",
+    "Position the cube tea box with gold designs carefully to the left of the small solid gray cleaning soap.",
+    "Position the gold-decorated beige tea box to the left of the light gray soap bar.",
+    "Use the right arm to move the light beige box with embossed gold leaf to the rectangular soap with slight groove pattern's left",
+    "Place the light beige box with embossed gold leaf directly to the left of the small solid gray cleaning soap.",
+    "Drop the compact beige box for tea to the left of the soap bar",
+    "With the right arm, set the box for tea storage on the left of the light gray soap bar.",
+    "Shift the light beige box with embossed gold leaf leftward to the side of the light gray soap with angled ends",
+    "Use the right arm to put the light beige box with embossed gold leaf left of the light gray soap bar",
+    "Use the right arm and place the tea box left of the small solid gray cleaning soap.",
+    "Place the cube tea box with gold designs exactly to the left of the soap bar",
+    "Using the right arm, place the light beige box with embossed gold leaf on the left of the rectangular soap with slight groove pattern",
+    "Using the right arm, set the small tea box with gold patterns to the left of the smooth gray bar of soap.",
+    "Place the cube tea box with embossed designs carefully to the solid rectangular soap's left",
+    "Use the right arm to set the gold-decorated beige tea box left of the light gray soap with angled ends",
+    "Place the cube tea box with embossed designs to rest left of the solid rectangular soap using the right arm",
+    "Grab the light beige box with embossed gold leaf using the right arm and place it left of the solid rectangular soap.",
+    "Use the right arm to move the gold-decorated beige tea box to the left of the gray rectangular soap with angled edges.",
+    "With the right arm, move the compact beige box for tea to the left side of the light gray soap with angled ends.",
+    "Set the light beige box with embossed gold leaf on the left side of the light gray soap bar.",
+    "With the right arm, position the small box with golden patterns left of the slanted rectangular soap",
+    "With the right arm, place the smooth cube with golden leaf designs left of the gray soap",
+    "Move the small cube-shaped tea container to the left of the small solid gray cleaning soap",
+    "Use the right arm to position the gold-decorated beige tea box left of the rectangular soap with slight groove pattern",
+    "With the right arm, stick the small cube-shaped tea container left of the gray soap",
+    "Place the small cube-shaped tea container on the left of the light gray rectangular cleaning soap.",
+    "Move the small box with golden patterns to the left of the small solid gray cleaning soap.",
+    "Grab the cube tea box with embossed designs using the right arm and move left of the smooth gray bar of soap",
+    "Move the smooth cube with golden leaf designs to the left of the soap bar.",
+    "Grab the tea box with the right arm and set left of the light gray soap bar",
+    "Stick the gold-decorated beige tea box on the left of the light gray rectangular cleaning soap",
+    "Drop the beige cube with golden leaf patterns on the left side of the gray soap",
+    "Move the cube tea box with gold designs to the left side of the light gray rectangular cleaning soap",
+    "Grab the box for tea storage with the right arm and shift it left of the smooth gray bar of soap.",
+    "Set the gold-decorated beige tea box carefully on the left of the solid rectangular soap",
+    "Use the right arm, move the compact beige box for tea left of the light gray soap with angled ends",
+    "Using the right arm, move the beige cube with golden leaf patterns left of the smooth gray bar of soap.",
+    "Put the cube tea box with gold designs on the left side of the slanted rectangular soap",
+    "Put the cube tea box with embossed designs to the left of the rectangular soap with slight groove pattern",
+    "Place the small tea box with gold patterns left of the slanted rectangular soap using the right arm",
+    "Set the cube tea box with gold designs left of the gray rectangular soap with angled edges.",
+    "Adjust the small tea box with gold patterns to rest on the rectangular soap with slight groove pattern's left",
+    "Position the beige cube with golden leaf patterns to the left of the small solid gray cleaning soap",
+    "Using the right arm, put the small tea box with gold patterns on left of the solid rectangular soap",
+    "Shift the light beige box with embossed gold leaf and position it left of the light gray soap with angled ends.",
+    "With the right arm, position the light beige box with embossed gold leaf left of the slanted soap with smooth surface.",
+    "Place the small tea box with gold patterns left of the light gray soap bar using the right arm",
+    "Set the small cube-shaped tea container to the left of the gray soap",
+    "Grab the compact beige box for tea using the right arm and place left of the soap bar.",
+    "Set the gold-decorated beige tea box directly to the left of the small solid gray cleaning soap",
+    "Carefully position the light beige box with embossed gold leaf to the left of the light gray soap bar.",
+    "Position the box for tea storage carefully to the left of the slanted rectangular soap.",
+    "Position the compact beige box for tea to the left of the smooth gray bar of soap.",
+    "Use the right arm to move the small box with golden patterns to the slanted rectangular soap's left",
+    "Place the cube tea box with gold designs directly to the left of the light gray rectangular cleaning soap.",
+    "Drop the compact beige box for tea to the left of the slanted rectangular soap",
+    "With the right arm, set the beige cube with golden leaf patterns on the left of the solid rectangular soap.",
+    "Shift the cube tea box with embossed designs leftward to the side of the slanted rectangular soap",
+    "Use the right arm to put the small cube-shaped tea container left of the gray rectangular soap with angled edges",
+    "Use the right arm and place the small tea box with gold patterns left of the smooth gray bar of soap.",
+    "Place the smooth cube with golden leaf designs exactly to the left of the solid rectangular soap",
+    "Using the right arm, place the light beige box with embossed gold leaf on the left of the soap bar",
+    "Using the right arm, set the gold-decorated beige tea box to the left of the solid rectangular soap.",
+    "Place the small cube-shaped tea container carefully to the solid rectangular soap's left",
+    "Use the right arm to set the compact beige box for tea left of the light gray rectangular cleaning soap",
+    "Place the cube tea box with embossed designs to rest left of the small solid gray cleaning soap using the right arm",
+    "Grab the light beige box with embossed gold leaf using the right arm and place it left of the light gray rectangular cleaning soap.",
+    "Use the right arm to move the smooth cube with golden leaf designs to the left of the light gray soap with angled ends.",
+    "With the right arm, move the cube tea box with embossed designs to the left side of the light gray rectangular cleaning soap.",
+    "Set the light beige box with embossed gold leaf on the left side of the small solid gray cleaning soap.",
+    "With the right arm, position the gold-decorated beige tea box left of the small solid gray cleaning soap",
+    "With the right arm, place the small tea box with gold patterns left of the light gray soap bar",
+    "Move the tea box to the left of the small solid gray cleaning soap",
+    "Use the right arm to position the tea box left of the gray soap",
+    "With the right arm, stick the light beige box with embossed gold leaf left of the small solid gray cleaning soap",
+    "Place the small tea box with gold patterns on the left of the gray rectangular soap with angled edges.",
+    "Move the cube tea box with embossed designs to the left of the gray rectangular soap with angled edges.",
+    "Grab the cube tea box with gold designs using the right arm and move left of the soap bar",
+    "Move the small box with golden patterns to the left of the light gray soap bar.",
+    "Grab the small box with golden patterns with the right arm and set left of the soap bar",
+    "Stick the light beige box with embossed gold leaf on the left of the rectangular soap with slight groove pattern",
+    "Drop the beige cube with golden leaf patterns on the left side of the slanted soap with smooth surface",
+    "Move the small cube-shaped tea container to the left side of the smooth gray bar of soap"
+  ],
+  "unseen": [
+    "Grab the cube tea box with shiny embossed patterns and place left of the hand-sized gray soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the soap with smooth grooves.",
+    "Position the cube tea box with shiny embossed patterns on the left of the soap with smooth grooves",
+    "Pick the beige box with golden decoration and set it left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to put the light beige cube left of the hand-sized gray soap.",
+    "Use the right arm to place the cube tea box with shiny embossed patterns left of the hand-sized gray soap.",
+    "Set the light beige cube down to the left of the solid gray rectangular cleaning soap",
+    "Place the beige box with golden decoration to the left of the soap with smooth grooves using the right arm",
+    "Set the beige box with golden decoration to the left of the soap with smooth grooves",
+    "Set the light beige cube on the left side of the solid gray rectangular cleaning soap",
+    "Grab the beige box with golden decoration and place left of the soap with smooth grooves",
+    "Set the light beige cube on the left side of the soap with smooth grooves.",
+    "Position the light beige cube on the left of the soap with smooth grooves",
+    "Pick the cube tea box with shiny embossed patterns and set it left of the hand-sized gray soap.",
+    "Use the right arm to put the beige box with golden decoration left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the light beige cube left of the solid gray rectangular cleaning soap.",
+    "Set the cube tea box with shiny embossed patterns down to the left of the solid gray rectangular cleaning soap",
+    "Place the light beige cube to the left of the solid gray rectangular cleaning soap using the right arm",
+    "Set the beige box with golden decoration to the left of the solid gray rectangular cleaning soap",
+    "Set the beige box with golden decoration on the left side of the hand-sized gray soap",
+    "Grab the cube tea box with shiny embossed patterns and place left of the hand-sized gray soap",
+    "Set the beige box with golden decoration on the left side of the hand-sized gray soap.",
+    "Position the beige box with golden decoration on the left of the soap with smooth grooves",
+    "Pick the light beige cube and set it left of the hand-sized gray soap.",
+    "Use the right arm to put the light beige cube left of the hand-sized gray soap.",
+    "Use the right arm to place the cube tea box with shiny embossed patterns left of the hand-sized gray soap.",
+    "Set the light beige cube down to the left of the soap with smooth grooves",
+    "Place the beige box with golden decoration to the left of the hand-sized gray soap using the right arm",
+    "Set the cube tea box with shiny embossed patterns to the left of the hand-sized gray soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the soap with smooth grooves",
+    "Grab the cube tea box with shiny embossed patterns and place left of the solid gray rectangular cleaning soap",
+    "Set the beige box with golden decoration on the left side of the solid gray rectangular cleaning soap.",
+    "Position the beige box with golden decoration on the left of the solid gray rectangular cleaning soap",
+    "Pick the light beige cube and set it left of the soap with smooth grooves.",
+    "Use the right arm to put the beige box with golden decoration left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the light beige cube left of the solid gray rectangular cleaning soap.",
+    "Set the light beige cube down to the left of the hand-sized gray soap",
+    "Place the light beige cube to the left of the hand-sized gray soap using the right arm",
+    "Set the light beige cube to the left of the soap with smooth grooves",
+    "Set the cube tea box with shiny embossed patterns on the left side of the soap with smooth grooves",
+    "Grab the cube tea box with shiny embossed patterns and place left of the hand-sized gray soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the solid gray rectangular cleaning soap.",
+    "Position the light beige cube on the left of the solid gray rectangular cleaning soap",
+    "Pick the cube tea box with shiny embossed patterns and set it left of the soap with smooth grooves.",
+    "Use the right arm to put the light beige cube left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the cube tea box with shiny embossed patterns left of the hand-sized gray soap.",
+    "Set the cube tea box with shiny embossed patterns down to the left of the solid gray rectangular cleaning soap",
+    "Place the beige box with golden decoration to the left of the hand-sized gray soap using the right arm",
+    "Set the light beige cube to the left of the solid gray rectangular cleaning soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the soap with smooth grooves",
+    "Grab the cube tea box with shiny embossed patterns and place left of the solid gray rectangular cleaning soap",
+    "Set the beige box with golden decoration on the left side of the soap with smooth grooves.",
+    "Position the beige box with golden decoration on the left of the soap with smooth grooves",
+    "Pick the cube tea box with shiny embossed patterns and set it left of the soap with smooth grooves.",
+    "Use the right arm to put the light beige cube left of the soap with smooth grooves.",
+    "Use the right arm to place the light beige cube left of the hand-sized gray soap.",
+    "Set the light beige cube down to the left of the soap with smooth grooves",
+    "Place the light beige cube to the left of the soap with smooth grooves using the right arm",
+    "Set the cube tea box with shiny embossed patterns to the left of the solid gray rectangular cleaning soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the hand-sized gray soap",
+    "Grab the light beige cube and place left of the soap with smooth grooves",
+    "Set the beige box with golden decoration on the left side of the soap with smooth grooves.",
+    "Position the cube tea box with shiny embossed patterns on the left of the solid gray rectangular cleaning soap",
+    "Pick the beige box with golden decoration and set it left of the hand-sized gray soap.",
+    "Use the right arm to put the cube tea box with shiny embossed patterns left of the hand-sized gray soap.",
+    "Use the right arm to place the light beige cube left of the hand-sized gray soap.",
+    "Set the cube tea box with shiny embossed patterns down to the left of the solid gray rectangular cleaning soap",
+    "Place the light beige cube to the left of the solid gray rectangular cleaning soap using the right arm",
+    "Set the light beige cube to the left of the soap with smooth grooves",
+    "Set the beige box with golden decoration on the left side of the solid gray rectangular cleaning soap",
+    "Grab the light beige cube and place left of the solid gray rectangular cleaning soap",
+    "Set the light beige cube on the left side of the soap with smooth grooves.",
+    "Position the beige box with golden decoration on the left of the solid gray rectangular cleaning soap",
+    "Pick the beige box with golden decoration and set it left of the soap with smooth grooves.",
+    "Use the right arm to put the beige box with golden decoration left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the beige box with golden decoration left of the hand-sized gray soap.",
+    "Set the light beige cube down to the left of the hand-sized gray soap",
+    "Place the light beige cube to the left of the soap with smooth grooves using the right arm",
+    "Set the cube tea box with shiny embossed patterns to the left of the hand-sized gray soap",
+    "Set the light beige cube on the left side of the solid gray rectangular cleaning soap",
+    "Grab the light beige cube and place left of the soap with smooth grooves",
+    "Set the cube tea box with shiny embossed patterns on the left side of the hand-sized gray soap.",
+    "Position the light beige cube on the left of the soap with smooth grooves",
+    "Pick the cube tea box with shiny embossed patterns and set it left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to put the cube tea box with shiny embossed patterns left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the cube tea box with shiny embossed patterns left of the hand-sized gray soap.",
+    "Set the cube tea box with shiny embossed patterns down to the left of the solid gray rectangular cleaning soap",
+    "Place the light beige cube to the left of the soap with smooth grooves using the right arm",
+    "Set the light beige cube to the left of the soap with smooth grooves",
+    "Set the cube tea box with shiny embossed patterns on the left side of the hand-sized gray soap",
+    "Grab the beige box with golden decoration and place left of the solid gray rectangular cleaning soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the solid gray rectangular cleaning soap.",
+    "Position the cube tea box with shiny embossed patterns on the left of the soap with smooth grooves",
+    "Pick the cube tea box with shiny embossed patterns and set it left of the hand-sized gray soap.",
+    "Use the right arm to put the beige box with golden decoration left of the solid gray rectangular cleaning soap.",
+    "Use the right arm to place the light beige cube left of the hand-sized gray soap.",
+    "Set the beige box with golden decoration down to the left of the soap with smooth grooves",
+    "Place the beige box with golden decoration to the left of the solid gray rectangular cleaning soap using the right arm",
+    "Set the light beige cube to the left of the solid gray rectangular cleaning soap",
+    "Set the cube tea box with shiny embossed patterns on the left side of the hand-sized gray soap"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode2.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c36d98dde73cbcfc99a158391646e2d2b881b33
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, move the lightweight phone to the left side of the brown loaf.",
+    "Set the phone with digital display on the left side of the brown loaf.",
+    "Adjust the black and white phone to rest on the bread with split top's left",
+    "Grab the phone for calls and apps using the left arm and place left of the small golden brown bread.",
+    "Use the left arm to move the phone with buttons and screen to the light brown bread with ridges's left",
+    "Use the left arm and place the black and white phone left of the bread with warm golden color.",
+    "With the left arm, stick the phone with buttons and screen left of the small loaf with curved top",
+    "Move the lightweight phone to the left side of the brown loaf",
+    "Shift the phone with buttons and screen and position it left of the bread with split top.",
+    "Put the sleek rectangular phone on the left side of the bread with golden-brown crust",
+    "Using the left arm, move the phone with digital display left of the small golden brown bread.",
+    "Move the smooth-screen phone to the left of the brown loaf.",
+    "Set the palm-sized black and white phone directly to the left of the light brown bread with ridges",
+    "Use the left arm to set the sleek rectangular phone left of the light brown bread with ridges",
+    "Stick the phone with digital display on the left of the small golden brown bread",
+    "Use the left arm to move the phone with touchscreen to the left of the bread with golden-brown crust.",
+    "Grab the glass-faced phone using the left arm and move left of the soft brown bread",
+    "Using the left arm, set the phone with touchscreen to the left of the bread with golden-brown crust.",
+    "Use the left arm, move the phone with digital display left of the small golden brown bread",
+    "Position the phone with digital display carefully to the left of the light brown loaf with smooth sides.",
+    "Shift the palm-sized black and white phone leftward to the side of the hand-sized oval loaf",
+    "Move the phone with buttons and screen to the left of the small golden brown bread.",
+    "Drop the smooth-screen phone on the left side of the bread with warm golden color",
+    "With the left arm, place the compact phone left of the soft brown bread",
+    "Place the phone for calls and apps to rest left of the bread with golden-brown crust using the left arm",
+    "Position the glass-faced phone to the left of the hand-sized oval loaf",
+    "With the left arm, position the phone with digital display left of the bread with golden-brown crust.",
+    "Position the smooth-screen phone to the left of the small loaf with curved top.",
+    "Place the compact phone carefully to the brown loaf's left",
+    "Set the lightweight phone left of the soft brown bread.",
+    "With the left arm, set the phone for calls and apps on the left of the golden bread loaf.",
+    "Grab the flat phone with the left arm and shift it left of the bread with golden-brown crust.",
+    "Use the left arm to put the black and white phone left of the hand-sized oval loaf",
+    "Using the left arm, put the flat phone on left of the brown loaf",
+    "Grab the sleek rectangular phone using the left arm and place it left of the smooth loaf with rounded edges.",
+    "Set the compact phone carefully on the left of the bread with split top",
+    "Set the lightweight phone to the left of the bread with warm golden color",
+    "Place the palm-sized black and white phone on the left of the smooth loaf with rounded edges.",
+    "Using the left arm, place the palm-sized black and white phone on the left of the bread with warm golden color",
+    "Place the phone for calls and apps directly to the left of the soft brown bread.",
+    "Use the left arm to position the lightweight phone left of the small loaf with curved top",
+    "Carefully position the sleek rectangular phone to the left of the light brown bread with ridges.",
+    "Grab the glass-faced phone with the left arm and set left of the light brown bread with ridges",
+    "Place the black and white phone left of the small loaf with curved top using the left arm",
+    "Move the smooth-screen phone to the left of the light brown bread with ridges",
+    "Place the phone with digital display exactly to the left of the brown loaf",
+    "With the left arm, position the phone with buttons and screen left of the golden bread loaf",
+    "Place the phone for calls and apps left of the small golden brown bread using the left arm",
+    "Put the phone for calls and apps to the left of the bread with warm golden color",
+    "Drop the smooth-screen phone to the left of the bread with golden-brown crust",
+    "With the left arm, move the glass-faced phone to the left side of the small loaf with curved top.",
+    "Set the smooth-screen phone on the left side of the smooth loaf with rounded edges.",
+    "Adjust the smooth-screen phone to rest on the hand-sized oval loaf's left",
+    "Grab the phone for calls and apps using the left arm and place left of the small loaf with curved top.",
+    "Use the left arm to move the black and white phone to the bread with golden-brown crust's left",
+    "Use the left arm and place the glass-faced phone left of the light brown bread with ridges.",
+    "With the left arm, stick the phone for calls and apps left of the soft brown bread",
+    "Move the flat phone to the left side of the light brown bread with ridges",
+    "Shift the phone with digital display and position it left of the bread with golden-brown crust.",
+    "Put the black and white phone on the left side of the light brown bread with ridges",
+    "Using the left arm, move the phone with buttons and screen left of the small loaf with curved top.",
+    "Move the flat phone to the left of the golden bread loaf.",
+    "Set the flat phone directly to the left of the bread with golden-brown crust",
+    "Use the left arm to set the phone with digital display left of the small loaf with curved top",
+    "Stick the phone with touchscreen on the left of the small loaf with curved top",
+    "Use the left arm to move the lightweight phone to the left of the light brown loaf with smooth sides.",
+    "Grab the phone for calls and apps using the left arm and move left of the smooth loaf with rounded edges",
+    "Using the left arm, set the phone with touchscreen to the left of the light brown bread with ridges.",
+    "Use the left arm, move the black and white phone left of the hand-sized oval loaf",
+    "Position the compact phone carefully to the left of the brown loaf.",
+    "Shift the phone for calls and apps leftward to the side of the small loaf with curved top",
+    "Move the phone for calls and apps to the left of the brown loaf.",
+    "Drop the phone with buttons and screen on the left side of the bread with warm golden color",
+    "With the left arm, place the phone with touchscreen left of the soft brown bread",
+    "Place the smooth-screen phone to rest left of the light brown loaf with smooth sides using the left arm",
+    "Position the phone with buttons and screen to the left of the smooth loaf with rounded edges",
+    "With the left arm, position the lightweight phone left of the golden bread loaf.",
+    "Position the black and white phone to the left of the soft brown bread.",
+    "Place the black and white phone carefully to the light brown loaf with smooth sides's left",
+    "Set the smooth-screen phone left of the golden bread loaf.",
+    "With the left arm, set the lightweight phone on the left of the golden bread loaf.",
+    "Grab the glass-faced phone with the left arm and shift it left of the bread with split top.",
+    "Use the left arm to put the palm-sized black and white phone left of the golden bread loaf",
+    "Using the left arm, put the lightweight phone on left of the bread with split top",
+    "Grab the sleek rectangular phone using the left arm and place it left of the soft brown bread.",
+    "Set the phone for calls and apps carefully on the left of the light brown loaf with smooth sides",
+    "Set the smooth-screen phone to the left of the small loaf with curved top",
+    "Place the phone for calls and apps on the left of the light brown bread with ridges.",
+    "Using the left arm, place the palm-sized black and white phone on the left of the small golden brown bread",
+    "Place the phone with buttons and screen directly to the left of the brown loaf.",
+    "Use the left arm to position the lightweight phone left of the bread with warm golden color",
+    "Carefully position the flat phone to the left of the bread with warm golden color.",
+    "Grab the sleek rectangular phone with the left arm and set left of the bread with split top",
+    "Place the lightweight phone left of the small loaf with curved top using the left arm",
+    "Move the phone with digital display to the left of the small loaf with curved top",
+    "Place the smooth-screen phone exactly to the left of the light brown loaf with smooth sides",
+    "With the left arm, position the phone with buttons and screen left of the hand-sized oval loaf",
+    "Place the glass-faced phone left of the small loaf with curved top using the left arm",
+    "Put the lightweight phone to the left of the golden bread loaf",
+    "Drop the smooth-screen phone to the left of the golden bread loaf"
+  ],
+  "unseen": [
+    "Place the white-sided phone to the left of the rounded oval bread using the left arm",
+    "Set the white-sided phone down to the left of the rounded oval bread",
+    "Use the left arm to put the phone with rounded edges left of the oval bread.",
+    "Use the left arm to place the rectangular phone left of the oval-shaped soft bread.",
+    "Set the rectangular phone on the left side of the rounded oval bread.",
+    "Grab the white-sided phone and place left of the oval bread",
+    "Set the white-sided phone on the left side of the oval bread",
+    "Position the white-sided phone on the left of the rounded oval bread",
+    "Set the rectangular phone to the left of the rounded oval bread",
+    "Pick the phone with rounded edges and set it left of the rounded oval bread.",
+    "Place the rectangular phone to the left of the rounded oval bread using the left arm",
+    "Set the phone with rounded edges down to the left of the oval bread",
+    "Use the left arm to put the rectangular phone left of the oval bread.",
+    "Use the left arm to place the rectangular phone left of the rounded oval bread.",
+    "Set the phone with rounded edges on the left side of the oval-shaped soft bread.",
+    "Grab the rectangular phone and place left of the oval-shaped soft bread",
+    "Set the phone with rounded edges on the left side of the oval-shaped soft bread",
+    "Position the white-sided phone on the left of the oval bread",
+    "Set the rectangular phone to the left of the oval-shaped soft bread",
+    "Pick the white-sided phone and set it left of the rounded oval bread.",
+    "Place the white-sided phone to the left of the oval bread using the left arm",
+    "Set the phone with rounded edges down to the left of the oval-shaped soft bread",
+    "Use the left arm to put the phone with rounded edges left of the oval-shaped soft bread.",
+    "Use the left arm to place the rectangular phone left of the oval bread.",
+    "Set the white-sided phone on the left side of the oval-shaped soft bread.",
+    "Grab the white-sided phone and place left of the oval-shaped soft bread",
+    "Set the rectangular phone on the left side of the oval-shaped soft bread",
+    "Position the white-sided phone on the left of the rounded oval bread",
+    "Set the rectangular phone to the left of the oval-shaped soft bread",
+    "Pick the white-sided phone and set it left of the rounded oval bread.",
+    "Place the phone with rounded edges to the left of the oval bread using the left arm",
+    "Set the rectangular phone down to the left of the oval-shaped soft bread",
+    "Use the left arm to put the phone with rounded edges left of the oval bread.",
+    "Use the left arm to place the white-sided phone left of the oval-shaped soft bread.",
+    "Set the phone with rounded edges on the left side of the oval bread.",
+    "Grab the rectangular phone and place left of the oval bread",
+    "Set the phone with rounded edges on the left side of the oval bread",
+    "Position the rectangular phone on the left of the rounded oval bread",
+    "Set the rectangular phone to the left of the oval-shaped soft bread",
+    "Pick the phone with rounded edges and set it left of the rounded oval bread.",
+    "Place the white-sided phone to the left of the oval-shaped soft bread using the left arm",
+    "Set the rectangular phone down to the left of the oval bread",
+    "Use the left arm to put the rectangular phone left of the oval-shaped soft bread.",
+    "Use the left arm to place the phone with rounded edges left of the oval bread.",
+    "Set the phone with rounded edges on the left side of the rounded oval bread.",
+    "Grab the phone with rounded edges and place left of the oval bread",
+    "Set the white-sided phone on the left side of the rounded oval bread",
+    "Position the phone with rounded edges on the left of the oval-shaped soft bread",
+    "Set the phone with rounded edges to the left of the oval bread",
+    "Pick the phone with rounded edges and set it left of the rounded oval bread.",
+    "Place the rectangular phone to the left of the oval-shaped soft bread using the left arm",
+    "Set the phone with rounded edges down to the left of the oval-shaped soft bread",
+    "Use the left arm to put the phone with rounded edges left of the oval bread.",
+    "Use the left arm to place the phone with rounded edges left of the rounded oval bread.",
+    "Set the white-sided phone on the left side of the oval bread.",
+    "Grab the phone with rounded edges and place left of the oval-shaped soft bread",
+    "Set the phone with rounded edges on the left side of the oval-shaped soft bread",
+    "Position the white-sided phone on the left of the oval-shaped soft bread",
+    "Set the white-sided phone to the left of the oval-shaped soft bread",
+    "Pick the white-sided phone and set it left of the oval bread.",
+    "Place the phone with rounded edges to the left of the oval bread using the left arm",
+    "Set the white-sided phone down to the left of the rounded oval bread",
+    "Use the left arm to put the rectangular phone left of the oval bread.",
+    "Use the left arm to place the phone with rounded edges left of the oval-shaped soft bread.",
+    "Set the rectangular phone on the left side of the oval-shaped soft bread.",
+    "Grab the rectangular phone and place left of the rounded oval bread",
+    "Set the phone with rounded edges on the left side of the oval bread",
+    "Position the white-sided phone on the left of the oval bread",
+    "Set the phone with rounded edges to the left of the oval bread",
+    "Pick the rectangular phone and set it left of the rounded oval bread.",
+    "Place the white-sided phone to the left of the oval bread using the left arm",
+    "Set the phone with rounded edges down to the left of the oval bread",
+    "Use the left arm to put the rectangular phone left of the oval-shaped soft bread.",
+    "Use the left arm to place the phone with rounded edges left of the oval bread.",
+    "Set the phone with rounded edges on the left side of the oval bread.",
+    "Grab the white-sided phone and place left of the oval-shaped soft bread",
+    "Set the phone with rounded edges on the left side of the rounded oval bread",
+    "Position the white-sided phone on the left of the rounded oval bread",
+    "Set the phone with rounded edges to the left of the oval bread",
+    "Pick the rectangular phone and set it left of the oval bread.",
+    "Place the white-sided phone to the left of the rounded oval bread using the left arm",
+    "Set the phone with rounded edges down to the left of the rounded oval bread",
+    "Use the left arm to put the white-sided phone left of the rounded oval bread.",
+    "Use the left arm to place the rectangular phone left of the oval-shaped soft bread.",
+    "Set the rectangular phone on the left side of the oval bread.",
+    "Grab the phone with rounded edges and place left of the rounded oval bread",
+    "Set the white-sided phone on the left side of the rounded oval bread",
+    "Position the white-sided phone on the left of the oval bread",
+    "Set the white-sided phone to the left of the oval-shaped soft bread",
+    "Pick the rectangular phone and set it left of the oval-shaped soft bread.",
+    "Place the rectangular phone to the left of the oval bread using the left arm",
+    "Set the phone with rounded edges down to the left of the rounded oval bread",
+    "Use the left arm to put the rectangular phone left of the rounded oval bread.",
+    "Use the left arm to place the rectangular phone left of the rounded oval bread.",
+    "Set the phone with rounded edges on the left side of the oval-shaped soft bread.",
+    "Grab the rectangular phone and place left of the oval-shaped soft bread",
+    "Set the phone with rounded edges on the left side of the rounded oval bread",
+    "Position the white-sided phone on the left of the rounded oval bread",
+    "Set the rectangular phone to the left of the oval-shaped soft bread",
+    "Pick the white-sided phone and set it left of the oval-shaped soft bread."
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode3.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a9e9fac51e3537481df5036245b96f1f58b5aa4
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the toycar with transparent windshield left of the playingcards storage box using the right arm",
+    "With the right arm, stick the toycar with black tires left of the smooth playingcards pack",
+    "Using the right arm, place the toycar with smooth texture on the left of the rectangular playingcards case",
+    "Use the right arm to put the toycar with shiny plastic finish left of the hand-sized playingcards container",
+    "Use the right arm, move the toycar with black tires left of the small playingcards pack",
+    "Grab the toycar with shiny plastic finish with the right arm and shift it left of the playingcards storage box.",
+    "Position the toycar with shiny wheels carefully to the left of the small playingcards pack.",
+    "Grab the toycar with transparent windshield with the right arm and set left of the glossy rectangular playingcards box",
+    "Shift the blue and gray toycar leftward to the side of the playingcards box with white accents",
+    "Using the right arm, set the blue and gray toycar to the left of the red and yellow playingcards case.",
+    "Place the palm-sized blue toycar left of the playingcards box with white accents using the right arm",
+    "Use the right arm to set the toycar with shiny plastic finish left of the compact red playingcards pack",
+    "Drop the bright sleek toycar to the left of the smooth playingcards pack",
+    "Grab the toycar with shiny plastic finish using the right arm and place it left of the glossy rectangular playingcards box.",
+    "With the right arm, place the small plastic toycar left of the compact red playingcards pack",
+    "With the right arm, position the small plastic toycar left of the compact red playingcards pack.",
+    "Use the right arm and place the toycar with transparent windshield left of the yellow and red playingcards box.",
+    "Drop the toycar with shiny plastic finish on the left side of the red and yellow playingcards case",
+    "Position the toycar with shiny wheels to the left of the playingcards box with white accents.",
+    "Place the toycar with shiny plastic finish exactly to the left of the rectangular playingcards case",
+    "With the right arm, set the small plastic toycar on the left of the glossy rectangular playingcards box.",
+    "Set the toycar with transparent windshield carefully on the left of the red and yellow playingcards case",
+    "Shift the blue toycar and position it left of the hand-sized playingcards container.",
+    "Use the right arm to move the palm-sized blue toycar to the left of the glossy rectangular playingcards box.",
+    "With the right arm, move the palm-sized blue toycar to the left side of the red playingcards box.",
+    "Place the small plastic toycar carefully to the playingcards box with white accents's left",
+    "Position the toycar with black tires to the left of the small playingcards pack",
+    "Set the toycar with shiny plastic finish to the left of the compact red playingcards pack",
+    "Adjust the toycar with smooth texture to rest on the glossy rectangular playingcards box's left",
+    "Move the small plastic toycar to the left of the box for playingcards.",
+    "Using the right arm, move the toycar with black tires left of the box for playingcards.",
+    "Place the toycar for kids play directly to the left of the red playingcards box.",
+    "Use the right arm to move the toycar with smooth texture to the red playingcards box's left",
+    "Place the blue top toycar on the left of the playingcards storage box.",
+    "Set the toycar with shiny wheels left of the playingcards storage box.",
+    "Grab the toycar with transparent windshield using the right arm and place left of the yellow and red playingcards box.",
+    "Using the right arm, put the toycar with shiny plastic finish on left of the red and yellow playingcards case",
+    "Move the toycar with smooth texture to the left of the compact red playingcards pack",
+    "Stick the small plastic toycar on the left of the small playingcards pack",
+    "Set the blue top toycar on the left side of the yellow and red playingcards box.",
+    "Put the small plastic toycar to the left of the small playingcards pack",
+    "Carefully position the bright sleek toycar to the left of the box for playingcards.",
+    "Place the blue and gray toycar to rest left of the box for playingcards using the right arm",
+    "With the right arm, position the toycar for kids play left of the red playingcards box",
+    "Use the right arm to position the toycar with black tires left of the playingcards box with white accents",
+    "Set the toycar with shiny wheels directly to the left of the playingcards storage box",
+    "Grab the toycar with black tires using the right arm and move left of the compact red playingcards pack",
+    "Put the toycar with shiny plastic finish on the left side of the rectangular playingcards case",
+    "Move the toycar with shiny plastic finish to the left side of the small playingcards pack",
+    "Move the toycar with shiny plastic finish to the left of the smooth playingcards pack.",
+    "Place the toycar with shiny wheels left of the playingcards box with white accents using the right arm",
+    "With the right arm, stick the toycar with black tires left of the playingcards storage box",
+    "Using the right arm, place the small plastic toycar on the left of the yellow and red playingcards box",
+    "Use the right arm to put the toycar with black tires left of the playingcards box with white accents",
+    "Use the right arm, move the toycar with shiny plastic finish left of the yellow and red playingcards box",
+    "Grab the blue and gray toycar with the right arm and shift it left of the hand-sized playingcards container.",
+    "Position the palm-sized blue toycar carefully to the left of the playingcards box with white accents.",
+    "Grab the blue top toycar with the right arm and set left of the box for playingcards",
+    "Shift the blue toycar leftward to the side of the smooth playingcards pack",
+    "Using the right arm, set the blue toycar to the left of the box for playingcards.",
+    "Place the palm-sized blue toycar left of the playingcards storage box using the right arm",
+    "Use the right arm to set the bright sleek toycar left of the rectangular playingcards case",
+    "Drop the blue toycar to the left of the small playingcards pack",
+    "Grab the blue toycar using the right arm and place it left of the compact red playingcards pack.",
+    "With the right arm, place the small plastic toycar left of the red playingcards box",
+    "With the right arm, position the toycar with transparent windshield left of the red playingcards box.",
+    "Use the right arm and place the toycar with smooth texture left of the small playingcards pack.",
+    "Drop the toycar with shiny wheels on the left side of the red playingcards box",
+    "Position the blue and gray toycar to the left of the red playingcards box.",
+    "Place the toycar with smooth texture exactly to the left of the red and yellow playingcards case",
+    "With the right arm, set the toycar with transparent windshield on the left of the red playingcards box.",
+    "Set the toycar with shiny plastic finish carefully on the left of the rectangular playingcards case",
+    "Shift the toycar with smooth texture and position it left of the smooth playingcards pack.",
+    "Use the right arm to move the toycar with transparent windshield to the left of the hand-sized playingcards container.",
+    "With the right arm, move the bright sleek toycar to the left side of the red playingcards box.",
+    "Place the toycar with shiny wheels carefully to the playingcards box with white accents's left",
+    "Position the bright sleek toycar to the left of the rectangular playingcards case",
+    "Set the bright sleek toycar to the left of the playingcards box with white accents",
+    "Adjust the small plastic toycar to rest on the small playingcards pack's left",
+    "Move the toycar with shiny plastic finish to the left of the hand-sized playingcards container.",
+    "Using the right arm, move the bright sleek toycar left of the hand-sized playingcards container.",
+    "Place the toycar for kids play directly to the left of the box for playingcards.",
+    "Use the right arm to move the blue and gray toycar to the red playingcards box's left",
+    "Place the blue toycar on the left of the red and yellow playingcards case.",
+    "Set the small plastic toycar left of the smooth playingcards pack.",
+    "Grab the toycar with smooth texture using the right arm and place left of the hand-sized playingcards container.",
+    "Using the right arm, put the palm-sized blue toycar on left of the playingcards storage box",
+    "Move the toycar for kids play to the left of the rectangular playingcards case",
+    "Stick the toycar for kids play on the left of the small playingcards pack",
+    "Set the toycar with shiny plastic finish on the left side of the yellow and red playingcards box.",
+    "Put the small plastic toycar to the left of the playingcards box with white accents",
+    "Carefully position the blue toycar to the left of the smooth playingcards pack.",
+    "Place the blue and gray toycar to rest left of the yellow and red playingcards box using the right arm",
+    "With the right arm, position the blue and gray toycar left of the glossy rectangular playingcards box",
+    "Use the right arm to position the bright sleek toycar left of the playingcards storage box",
+    "Set the toycar with shiny plastic finish directly to the left of the red playingcards box",
+    "Grab the toycar with smooth texture using the right arm and move left of the red playingcards box",
+    "Put the toycar with shiny plastic finish on the left side of the yellow and red playingcards box",
+    "Move the small plastic toycar to the left side of the yellow and red playingcards box",
+    "Move the palm-sized blue toycar to the left of the small playingcards pack."
+  ],
+  "unseen": [
+    "Set the gray base toycar on the left side of the playingcards with red packaging",
+    "Set the toycar with rounded body to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the gray base toycar left of the playingcards with red packaging.",
+    "Set the gray base toycar on the left side of the rectangular red playingcards holder.",
+    "Use the right arm to put the toycar with rounded body left of the small box for playingcards.",
+    "Place the toycar with rounded body to the left of the small box for playingcards using the right arm",
+    "Position the gray base toycar on the left of the small box for playingcards",
+    "Grab the gray base toycar and place left of the playingcards with red packaging",
+    "Pick the toycar with rounded body and set it left of the playingcards with red packaging.",
+    "Set the toycar with rounded body down to the left of the small box for playingcards",
+    "Set the toycar with rounded body on the left side of the playingcards with red packaging",
+    "Set the gray base toycar to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the toycar with rounded body left of the playingcards with red packaging.",
+    "Set the toycar with rounded body on the left side of the small box for playingcards.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the rectangular red playingcards holder.",
+    "Place the gray base toycar to the left of the small box for playingcards using the right arm",
+    "Position the toycar with rounded body on the left of the playingcards with red packaging",
+    "Grab the compact toycar with rotating wheels and place left of the small box for playingcards",
+    "Pick the toycar with rounded body and set it left of the playingcards with red packaging.",
+    "Set the gray base toycar down to the left of the small box for playingcards",
+    "Set the compact toycar with rotating wheels on the left side of the small box for playingcards",
+    "Set the compact toycar with rotating wheels to the left of the small box for playingcards",
+    "Use the right arm to place the compact toycar with rotating wheels left of the rectangular red playingcards holder.",
+    "Set the toycar with rounded body on the left side of the rectangular red playingcards holder.",
+    "Use the right arm to put the gray base toycar left of the rectangular red playingcards holder.",
+    "Place the gray base toycar to the left of the small box for playingcards using the right arm",
+    "Position the gray base toycar on the left of the playingcards with red packaging",
+    "Grab the compact toycar with rotating wheels and place left of the small box for playingcards",
+    "Pick the compact toycar with rotating wheels and set it left of the small box for playingcards.",
+    "Set the toycar with rounded body down to the left of the playingcards with red packaging",
+    "Set the toycar with rounded body on the left side of the rectangular red playingcards holder",
+    "Set the compact toycar with rotating wheels to the left of the playingcards with red packaging",
+    "Use the right arm to place the compact toycar with rotating wheels left of the small box for playingcards.",
+    "Set the gray base toycar on the left side of the small box for playingcards.",
+    "Use the right arm to put the toycar with rounded body left of the small box for playingcards.",
+    "Place the gray base toycar to the left of the small box for playingcards using the right arm",
+    "Position the gray base toycar on the left of the rectangular red playingcards holder",
+    "Grab the gray base toycar and place left of the small box for playingcards",
+    "Pick the compact toycar with rotating wheels and set it left of the small box for playingcards.",
+    "Set the toycar with rounded body down to the left of the rectangular red playingcards holder",
+    "Set the toycar with rounded body on the left side of the rectangular red playingcards holder",
+    "Set the gray base toycar to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the toycar with rounded body left of the small box for playingcards.",
+    "Set the gray base toycar on the left side of the playingcards with red packaging.",
+    "Use the right arm to put the gray base toycar left of the playingcards with red packaging.",
+    "Place the compact toycar with rotating wheels to the left of the playingcards with red packaging using the right arm",
+    "Position the gray base toycar on the left of the playingcards with red packaging",
+    "Grab the compact toycar with rotating wheels and place left of the rectangular red playingcards holder",
+    "Pick the gray base toycar and set it left of the playingcards with red packaging.",
+    "Set the toycar with rounded body down to the left of the playingcards with red packaging",
+    "Set the compact toycar with rotating wheels on the left side of the playingcards with red packaging",
+    "Set the gray base toycar to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the toycar with rounded body left of the rectangular red playingcards holder.",
+    "Set the gray base toycar on the left side of the playingcards with red packaging.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the small box for playingcards.",
+    "Place the toycar with rounded body to the left of the playingcards with red packaging using the right arm",
+    "Position the toycar with rounded body on the left of the playingcards with red packaging",
+    "Grab the toycar with rounded body and place left of the small box for playingcards",
+    "Pick the gray base toycar and set it left of the playingcards with red packaging.",
+    "Set the compact toycar with rotating wheels down to the left of the playingcards with red packaging",
+    "Set the gray base toycar on the left side of the rectangular red playingcards holder",
+    "Set the toycar with rounded body to the left of the small box for playingcards",
+    "Use the right arm to place the toycar with rounded body left of the rectangular red playingcards holder.",
+    "Set the compact toycar with rotating wheels on the left side of the playingcards with red packaging.",
+    "Use the right arm to put the toycar with rounded body left of the rectangular red playingcards holder.",
+    "Place the gray base toycar to the left of the rectangular red playingcards holder using the right arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular red playingcards holder",
+    "Grab the compact toycar with rotating wheels and place left of the playingcards with red packaging",
+    "Pick the toycar with rounded body and set it left of the small box for playingcards.",
+    "Set the toycar with rounded body down to the left of the playingcards with red packaging",
+    "Set the compact toycar with rotating wheels on the left side of the small box for playingcards",
+    "Set the gray base toycar to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the gray base toycar left of the playingcards with red packaging.",
+    "Set the toycar with rounded body on the left side of the rectangular red playingcards holder.",
+    "Use the right arm to put the toycar with rounded body left of the rectangular red playingcards holder.",
+    "Place the toycar with rounded body to the left of the playingcards with red packaging using the right arm",
+    "Position the compact toycar with rotating wheels on the left of the small box for playingcards",
+    "Grab the gray base toycar and place left of the small box for playingcards",
+    "Pick the toycar with rounded body and set it left of the playingcards with red packaging.",
+    "Set the toycar with rounded body down to the left of the playingcards with red packaging",
+    "Set the gray base toycar on the left side of the small box for playingcards",
+    "Set the gray base toycar to the left of the rectangular red playingcards holder",
+    "Use the right arm to place the toycar with rounded body left of the playingcards with red packaging.",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular red playingcards holder.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the rectangular red playingcards holder.",
+    "Place the compact toycar with rotating wheels to the left of the playingcards with red packaging using the right arm",
+    "Position the toycar with rounded body on the left of the small box for playingcards",
+    "Grab the gray base toycar and place left of the rectangular red playingcards holder",
+    "Pick the toycar with rounded body and set it left of the rectangular red playingcards holder.",
+    "Set the toycar with rounded body down to the left of the playingcards with red packaging",
+    "Set the toycar with rounded body on the left side of the rectangular red playingcards holder",
+    "Set the compact toycar with rotating wheels to the left of the playingcards with red packaging",
+    "Use the right arm to place the gray base toycar left of the rectangular red playingcards holder.",
+    "Set the gray base toycar on the left side of the rectangular red playingcards holder.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the rectangular red playingcards holder.",
+    "Place the gray base toycar to the left of the rectangular red playingcards holder using the right arm",
+    "Position the toycar with rounded body on the left of the playingcards with red packaging",
+    "Grab the compact toycar with rotating wheels and place left of the playingcards with red packaging",
+    "Pick the compact toycar with rotating wheels and set it left of the rectangular red playingcards holder.",
+    "Set the gray base toycar down to the left of the playingcards with red packaging"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode4.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d246f93aaebb76fa5ae1935a386e846ca03259b
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the soft bread using the right arm and place left of the light brown coffee-box.",
+    "With the right arm, set the golden bread on the left of the coffee-box with green logo.",
+    "Using the right arm, put the bread with rough texture on left of the medium rectangular coffee-box with handle",
+    "Use the right arm to move the soft bread to the left of the coffee-box having green round logo.",
+    "Set the golden bread left of the flat coffee-box with smooth sides.",
+    "Drop the golden bread loaf on the left side of the smooth cardboard coffee-box",
+    "Set the bread loaf with bumpy surface carefully on the left of the rectangular coffee-box",
+    "Move the bread loaf with bumpy surface to the left of the medium box with flat surfaces.",
+    "Stick the golden bread loaf on the left of the medium rectangular coffee-box with handle",
+    "Drop the bread block with light patches to the left of the light brown coffee-box",
+    "With the right arm, move the bread loaf with bumpy surface to the left side of the coffee-box with green logo.",
+    "Place the cuboid bread on the left of the coffee-box with green logo.",
+    "Position the soft bread to the left of the coffee-box with green logo",
+    "With the right arm, position the bread block with light patches left of the coffee-box with green logo",
+    "Put the bread loaf with bumpy surface on the left side of the Starbucks coffee-box with smooth texture",
+    "Use the right arm, move the bread loaf with uneven edges left of the smooth cardboard coffee-box",
+    "Place the hand-sized bread block to rest left of the coffee-box with Starbucks logo using the right arm",
+    "Using the right arm, place the bread with rough texture on the left of the flat coffee-box with smooth sides",
+    "Move the bread loaf with uneven edges to the left of the medium rectangular coffee-box with handle",
+    "Adjust the cuboid bread to rest on the rectangular coffee-box's left",
+    "With the right arm, stick the bread block with light patches left of the light brown coffee-box",
+    "Move the golden bread to the left side of the coffee-box with Starbucks logo",
+    "Use the right arm to position the soft bread left of the flat coffee-box with smooth sides",
+    "Put the golden bread to the left of the medium box with flat surfaces",
+    "Grab the cuboid bread using the right arm and move left of the medium-sized coffee-box",
+    "Grab the golden bread loaf with the right arm and set left of the medium box with flat surfaces",
+    "Use the right arm to set the soft bread left of the coffee-box with green logo",
+    "Using the right arm, set the bread loaf with bumpy surface to the left of the light brown coffee-box.",
+    "Shift the bread block with light patches leftward to the side of the coffee-box having green round logo",
+    "Use the right arm to put the doughy and soft bread left of the medium-sized coffee-box",
+    "Use the right arm to move the bread loaf with bumpy surface to the smooth cardboard coffee-box's left",
+    "Set the bread block with light patches on the left side of the medium rectangular coffee-box with handle.",
+    "With the right arm, place the bread block with light patches left of the coffee-box with green logo",
+    "Place the bread loaf with uneven edges carefully to the Starbucks coffee-box with smooth texture's left",
+    "Set the bread loaf with uneven edges directly to the left of the flat coffee-box with smooth sides",
+    "Using the right arm, move the bread loaf with uneven edges left of the coffee-box having green round logo.",
+    "Use the right arm and place the bread block with light patches left of the light brown coffee-box.",
+    "Place the golden bread loaf left of the medium box with flat surfaces using the right arm",
+    "Set the golden bread to the left of the coffee-box with Starbucks logo",
+    "Position the golden bread to the left of the light brown box with green emblem.",
+    "Grab the bread with rough texture using the right arm and place it left of the coffee-box having green round logo.",
+    "Position the light golden brown bread carefully to the left of the light brown box with green emblem.",
+    "Place the bread block with light patches directly to the left of the coffee-box having green round logo.",
+    "Move the golden bread to the left of the coffee-box having green round logo.",
+    "Place the golden bread exactly to the left of the flat coffee-box with smooth sides",
+    "Grab the bread with rough texture with the right arm and shift it left of the medium box with flat surfaces.",
+    "With the right arm, position the golden bread loaf left of the light brown coffee-box.",
+    "Place the light golden brown bread left of the coffee-box with green logo using the right arm",
+    "Carefully position the soft bread to the left of the medium-sized coffee-box.",
+    "Shift the hand-sized bread block and position it left of the coffee-box having green round logo.",
+    "Grab the soft bread using the right arm and place left of the rectangular coffee-box.",
+    "With the right arm, set the bread block with light patches on the left of the smooth cardboard coffee-box.",
+    "Using the right arm, put the bread loaf with uneven edges on left of the light brown coffee-box",
+    "Use the right arm to move the doughy and soft bread to the left of the medium-sized coffee-box.",
+    "Set the bread loaf with uneven edges left of the rectangular coffee-box.",
+    "Drop the light golden brown bread on the left side of the coffee-box having green round logo",
+    "Set the soft bread carefully on the left of the smooth cardboard coffee-box",
+    "Move the cuboid bread to the left of the light brown coffee-box.",
+    "Stick the doughy and soft bread on the left of the medium-sized coffee-box",
+    "Drop the bread with rough texture to the left of the rectangular coffee-box",
+    "With the right arm, move the bread loaf with uneven edges to the left side of the smooth cardboard coffee-box.",
+    "Place the soft bread on the left of the coffee-box having green round logo.",
+    "Position the cuboid bread to the left of the flat coffee-box with smooth sides",
+    "With the right arm, position the bread loaf with uneven edges left of the coffee-box with Starbucks logo",
+    "Put the soft bread on the left side of the coffee-box with Starbucks logo",
+    "Use the right arm, move the bread with rough texture left of the smooth cardboard coffee-box",
+    "Place the golden bread to rest left of the coffee-box having green round logo using the right arm",
+    "Using the right arm, place the bread with rough texture on the left of the medium box with flat surfaces",
+    "Move the cuboid bread to the left of the medium rectangular coffee-box with handle",
+    "Adjust the soft bread to rest on the light brown coffee-box's left",
+    "With the right arm, stick the bread loaf with bumpy surface left of the coffee-box with green logo",
+    "Move the doughy and soft bread to the left side of the rectangular coffee-box",
+    "Use the right arm to position the hand-sized bread block left of the smooth cardboard coffee-box",
+    "Put the soft bread to the left of the light brown box with green emblem",
+    "Grab the cuboid bread using the right arm and move left of the light brown coffee-box",
+    "Grab the soft bread with the right arm and set left of the smooth cardboard coffee-box",
+    "Use the right arm to set the doughy and soft bread left of the smooth cardboard coffee-box",
+    "Using the right arm, set the light golden brown bread to the left of the coffee-box with Starbucks logo.",
+    "Shift the golden bread leftward to the side of the Starbucks coffee-box with smooth texture",
+    "Use the right arm to put the bread loaf with bumpy surface left of the rectangular coffee-box",
+    "Use the right arm to move the bread loaf with bumpy surface to the flat coffee-box with smooth sides's left",
+    "Set the bread with rough texture on the left side of the medium-sized coffee-box.",
+    "With the right arm, place the light golden brown bread left of the Starbucks coffee-box with smooth texture",
+    "Place the golden bread carefully to the Starbucks coffee-box with smooth texture's left",
+    "Set the golden bread directly to the left of the medium box with flat surfaces",
+    "Using the right arm, move the soft bread left of the smooth cardboard coffee-box.",
+    "Use the right arm and place the bread loaf with bumpy surface left of the light brown coffee-box.",
+    "Place the bread loaf with bumpy surface left of the light brown coffee-box using the right arm",
+    "Set the golden bread to the left of the medium box with flat surfaces",
+    "Position the golden bread loaf to the left of the medium-sized coffee-box.",
+    "Grab the doughy and soft bread using the right arm and place it left of the light brown coffee-box.",
+    "Position the soft bread carefully to the left of the rectangular coffee-box.",
+    "Place the cuboid bread directly to the left of the light brown box with green emblem.",
+    "Move the cuboid bread to the left of the light brown coffee-box.",
+    "Place the bread block with light patches exactly to the left of the medium-sized coffee-box",
+    "Grab the golden bread with the right arm and shift it left of the medium box with flat surfaces.",
+    "With the right arm, position the soft bread left of the coffee-box with green logo.",
+    "Place the golden bread loaf left of the coffee-box having green round logo using the right arm",
+    "Carefully position the bread with rough texture to the left of the coffee-box with green logo.",
+    "Shift the hand-sized bread block and position it left of the light brown box with green emblem."
+  ],
+  "unseen": [
+    "Use the right arm to place the bread with golden crust left of the printed light brown coffee-box.",
+    "Position the rectangular bread loaf on the left of the printed light brown coffee-box",
+    "Set the bread with golden crust on the left side of the rectangular brown box for coffee.",
+    "Set the rectangular bread loaf on the left side of the printed light brown coffee-box",
+    "Set the rectangular bread loaf to the left of the printed light brown coffee-box",
+    "Pick the rectangular bread loaf and set it left of the rectangular brown box for coffee.",
+    "Use the right arm to put the rectangular bread loaf left of the printed light brown coffee-box.",
+    "Set the bread loaf with soft surface down to the left of the rectangular brown box for coffee",
+    "Grab the rectangular bread loaf and place left of the rectangular brown box for coffee",
+    "Place the rectangular bread loaf to the left of the printed light brown coffee-box using the right arm",
+    "Use the right arm to place the rectangular bread loaf left of the printed light brown coffee-box.",
+    "Position the bread loaf with soft surface on the left of the rectangular brown box for coffee",
+    "Set the rectangular bread loaf on the left side of the cardboard box for storing coffee.",
+    "Set the rectangular bread loaf on the left side of the printed light brown coffee-box",
+    "Set the bread loaf with soft surface to the left of the printed light brown coffee-box",
+    "Pick the bread with golden crust and set it left of the printed light brown coffee-box.",
+    "Use the right arm to put the bread loaf with soft surface left of the printed light brown coffee-box.",
+    "Set the rectangular bread loaf down to the left of the printed light brown coffee-box",
+    "Grab the bread with golden crust and place left of the printed light brown coffee-box",
+    "Place the rectangular bread loaf to the left of the cardboard box for storing coffee using the right arm",
+    "Use the right arm to place the bread with golden crust left of the printed light brown coffee-box.",
+    "Position the bread loaf with soft surface on the left of the rectangular brown box for coffee",
+    "Set the bread with golden crust on the left side of the cardboard box for storing coffee.",
+    "Set the rectangular bread loaf on the left side of the rectangular brown box for coffee",
+    "Set the bread with golden crust to the left of the rectangular brown box for coffee",
+    "Pick the bread loaf with soft surface and set it left of the cardboard box for storing coffee.",
+    "Use the right arm to put the bread loaf with soft surface left of the printed light brown coffee-box.",
+    "Set the bread loaf with soft surface down to the left of the cardboard box for storing coffee",
+    "Grab the bread loaf with soft surface and place left of the rectangular brown box for coffee",
+    "Place the bread with golden crust to the left of the printed light brown coffee-box using the right arm",
+    "Use the right arm to place the bread with golden crust left of the cardboard box for storing coffee.",
+    "Position the bread with golden crust on the left of the rectangular brown box for coffee",
+    "Set the bread with golden crust on the left side of the cardboard box for storing coffee.",
+    "Set the bread loaf with soft surface on the left side of the printed light brown coffee-box",
+    "Set the bread loaf with soft surface to the left of the rectangular brown box for coffee",
+    "Pick the bread with golden crust and set it left of the rectangular brown box for coffee.",
+    "Use the right arm to put the bread with golden crust left of the cardboard box for storing coffee.",
+    "Set the rectangular bread loaf down to the left of the cardboard box for storing coffee",
+    "Grab the rectangular bread loaf and place left of the printed light brown coffee-box",
+    "Place the bread loaf with soft surface to the left of the rectangular brown box for coffee using the right arm",
+    "Use the right arm to place the rectangular bread loaf left of the cardboard box for storing coffee.",
+    "Position the bread with golden crust on the left of the printed light brown coffee-box",
+    "Set the bread loaf with soft surface on the left side of the printed light brown coffee-box.",
+    "Set the bread loaf with soft surface on the left side of the cardboard box for storing coffee",
+    "Set the bread with golden crust to the left of the cardboard box for storing coffee",
+    "Pick the bread loaf with soft surface and set it left of the rectangular brown box for coffee.",
+    "Use the right arm to put the bread loaf with soft surface left of the rectangular brown box for coffee.",
+    "Set the rectangular bread loaf down to the left of the printed light brown coffee-box",
+    "Grab the bread with golden crust and place left of the rectangular brown box for coffee",
+    "Place the bread loaf with soft surface to the left of the rectangular brown box for coffee using the right arm",
+    "Use the right arm to place the rectangular bread loaf left of the printed light brown coffee-box.",
+    "Position the bread with golden crust on the left of the printed light brown coffee-box",
+    "Set the rectangular bread loaf on the left side of the printed light brown coffee-box.",
+    "Set the bread with golden crust on the left side of the printed light brown coffee-box",
+    "Set the bread with golden crust to the left of the cardboard box for storing coffee",
+    "Pick the rectangular bread loaf and set it left of the printed light brown coffee-box.",
+    "Use the right arm to put the bread loaf with soft surface left of the printed light brown coffee-box.",
+    "Set the bread with golden crust down to the left of the rectangular brown box for coffee",
+    "Grab the rectangular bread loaf and place left of the rectangular brown box for coffee",
+    "Place the bread with golden crust to the left of the rectangular brown box for coffee using the right arm",
+    "Use the right arm to place the rectangular bread loaf left of the cardboard box for storing coffee.",
+    "Position the bread loaf with soft surface on the left of the rectangular brown box for coffee",
+    "Set the bread loaf with soft surface on the left side of the rectangular brown box for coffee.",
+    "Set the bread loaf with soft surface on the left side of the cardboard box for storing coffee",
+    "Set the bread with golden crust to the left of the printed light brown coffee-box",
+    "Pick the bread with golden crust and set it left of the rectangular brown box for coffee.",
+    "Use the right arm to put the bread loaf with soft surface left of the cardboard box for storing coffee.",
+    "Set the rectangular bread loaf down to the left of the rectangular brown box for coffee",
+    "Grab the bread loaf with soft surface and place left of the printed light brown coffee-box",
+    "Place the rectangular bread loaf to the left of the cardboard box for storing coffee using the right arm",
+    "Use the right arm to place the bread loaf with soft surface left of the rectangular brown box for coffee.",
+    "Position the rectangular bread loaf on the left of the printed light brown coffee-box",
+    "Set the bread loaf with soft surface on the left side of the rectangular brown box for coffee.",
+    "Set the bread with golden crust on the left side of the rectangular brown box for coffee",
+    "Set the bread with golden crust to the left of the rectangular brown box for coffee",
+    "Pick the rectangular bread loaf and set it left of the printed light brown coffee-box.",
+    "Use the right arm to put the bread loaf with soft surface left of the cardboard box for storing coffee.",
+    "Set the rectangular bread loaf down to the left of the rectangular brown box for coffee",
+    "Grab the bread with golden crust and place left of the rectangular brown box for coffee",
+    "Place the bread with golden crust to the left of the cardboard box for storing coffee using the right arm",
+    "Use the right arm to place the rectangular bread loaf left of the rectangular brown box for coffee.",
+    "Position the bread with golden crust on the left of the rectangular brown box for coffee",
+    "Set the bread with golden crust on the left side of the cardboard box for storing coffee.",
+    "Set the bread with golden crust on the left side of the rectangular brown box for coffee",
+    "Set the bread loaf with soft surface to the left of the cardboard box for storing coffee",
+    "Pick the bread loaf with soft surface and set it left of the cardboard box for storing coffee.",
+    "Use the right arm to put the rectangular bread loaf left of the printed light brown coffee-box.",
+    "Set the rectangular bread loaf down to the left of the printed light brown coffee-box",
+    "Grab the rectangular bread loaf and place left of the printed light brown coffee-box",
+    "Place the bread with golden crust to the left of the cardboard box for storing coffee using the right arm",
+    "Use the right arm to place the bread loaf with soft surface left of the printed light brown coffee-box.",
+    "Position the rectangular bread loaf on the left of the rectangular brown box for coffee",
+    "Set the bread loaf with soft surface on the left side of the rectangular brown box for coffee.",
+    "Set the bread loaf with soft surface on the left side of the rectangular brown box for coffee",
+    "Set the rectangular bread loaf to the left of the cardboard box for storing coffee",
+    "Pick the rectangular bread loaf and set it left of the cardboard box for storing coffee.",
+    "Use the right arm to put the rectangular bread loaf left of the rectangular brown box for coffee.",
+    "Set the rectangular bread loaf down to the left of the printed light brown coffee-box",
+    "Grab the bread loaf with soft surface and place left of the rectangular brown box for coffee",
+    "Place the bread loaf with soft surface to the left of the cardboard box for storing coffee using the right arm"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode5.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2148b68d08dfa482f02fd47155757232a88da6b7
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, move the white bell with black bottom left of the stapler in bright red color",
+    "Place the small desk bell for tapping left of the curved red stapler using the right arm",
+    "Grab the white bell with black bottom using the right arm and move left of the red stapler for binding papers",
+    "Grab the bell shaped like half-circle dome with the right arm and shift it left of the curved red stapler.",
+    "Set the white bell carefully on the left of the curved red stapler",
+    "With the right arm, place the white dome bell left of the compact stapler",
+    "Move the rounded bell with flat black part to the left of the curved red stapler.",
+    "Use the right arm to position the compact tabletop bell left of the curved red stapler",
+    "Drop the bell shaped like half-circle dome to the left of the red stapler for binding papers",
+    "Drop the bell with metallic top and plastic base on the left side of the stapler in bright red color",
+    "Using the right arm, place the simple hand bell with black stand on the left of the plastic stapler with metal top",
+    "Position the small desk bell for tapping to the left of the stapler with rectangular silver mechanism.",
+    "Set the rounded bell with flat black part left of the curved red stapler.",
+    "Using the right arm, set the simple hand bell with black stand to the left of the stapler in bright red color.",
+    "Set the white bell with black bottom on the left side of the curved red stapler.",
+    "Place the white dome bell carefully to the compact red stapler with silver accents's left",
+    "Put the bell with black flat base on the left side of the compact stapler",
+    "Place the white dome bell on the left of the compact stapler.",
+    "Use the right arm and place the bell with metallic top and plastic base left of the compact red stapler with silver accents.",
+    "Use the right arm to move the bell with metallic top and plastic base to the left of the lightweight red stapler.",
+    "Using the right arm, put the simple hand bell with black stand on left of the metallic stapler with red body",
+    "Set the plastic and metal bell directly to the left of the metallic stapler with red body",
+    "Use the right arm to move the rounded bell with flat black part to the red stapler's left",
+    "Move the bell shaped like half-circle dome to the left of the compact red stapler with silver accents.",
+    "Set the simple hand bell with black stand to the left of the lightweight red stapler",
+    "Carefully position the rounded bell with flat black part to the left of the plastic stapler with metal top.",
+    "Use the right arm to set the small desk bell for tapping left of the metallic stapler with red body",
+    "Position the small desk bell for tapping carefully to the left of the plastic stapler with metal top.",
+    "Move the white bell with black bottom to the left side of the plastic stapler with metal top",
+    "Stick the small desk bell for tapping on the left of the stapler with rectangular silver mechanism",
+    "Position the white dome bell to the left of the compact red stapler with silver accents",
+    "With the right arm, set the white and black colored bell on the left of the lightweight red stapler.",
+    "Place the white dome bell left of the compact stapler using the right arm",
+    "Grab the small desk bell for tapping with the right arm and set left of the compact red stapler with silver accents",
+    "With the right arm, position the plastic and metal bell left of the small red stapler",
+    "Use the right arm to put the plastic and metal bell left of the lightweight red stapler",
+    "Move the white bell with black bottom to the left of the lightweight red stapler",
+    "With the right arm, position the plastic and metal bell left of the metallic stapler with red body.",
+    "Shift the white and black colored bell leftward to the side of the compact red stapler with silver accents",
+    "Place the rounded bell with flat black part to rest left of the compact red stapler with silver accents using the right arm",
+    "With the right arm, move the bell with black flat base to the left side of the compact stapler.",
+    "Shift the simple hand bell with black stand and position it left of the lightweight red stapler.",
+    "Place the bell shaped like half-circle dome directly to the left of the metallic stapler with red body.",
+    "Grab the plastic and metal bell using the right arm and place it left of the small red stapler.",
+    "Using the right arm, move the bell shaped like half-circle dome left of the handheld red stapler.",
+    "Place the plastic and metal bell exactly to the left of the curved red stapler",
+    "Grab the white bell with black bottom using the right arm and place left of the lightweight red stapler.",
+    "With the right arm, stick the bell with black flat base left of the handheld red stapler",
+    "Adjust the small desk bell for tapping to rest on the handheld red stapler's left",
+    "Put the compact tabletop bell to the left of the handheld red stapler",
+    "Use the right arm, move the rounded bell with flat black part left of the small red stapler",
+    "Place the white bell left of the curved red stapler using the right arm",
+    "Grab the white bell using the right arm and move left of the stapler in bright red color",
+    "Grab the bell with metallic top and plastic base with the right arm and shift it left of the red stapler for binding papers.",
+    "Set the plastic and metal bell carefully on the left of the curved red stapler",
+    "With the right arm, place the bell with black flat base left of the compact red stapler with silver accents",
+    "Move the compact tabletop bell to the left of the handheld red stapler.",
+    "Use the right arm to position the white dome bell left of the lightweight red stapler",
+    "Drop the bell with metallic top and plastic base to the left of the compact stapler",
+    "Drop the bell shaped like half-circle dome on the left side of the metallic stapler with red body",
+    "Using the right arm, place the white dome bell on the left of the plastic stapler with metal top",
+    "Position the white dome bell to the left of the compact stapler.",
+    "Set the bell shaped like half-circle dome left of the stapler in bright red color.",
+    "Using the right arm, set the compact tabletop bell to the left of the plastic stapler with metal top.",
+    "Set the bell with metallic top and plastic base on the left side of the lightweight red stapler.",
+    "Place the plastic and metal bell carefully to the metallic stapler with red body's left",
+    "Put the white bell on the left side of the curved red stapler",
+    "Place the white dome bell on the left of the red stapler.",
+    "Use the right arm and place the white bell left of the red stapler.",
+    "Use the right arm to move the white bell with black bottom to the left of the plastic stapler with metal top.",
+    "Using the right arm, put the white dome bell on left of the stapler with rectangular silver mechanism",
+    "Set the bell shaped like half-circle dome directly to the left of the stapler with rectangular silver mechanism",
+    "Use the right arm to move the white bell with black bottom to the red stapler's left",
+    "Move the white bell to the left of the compact red stapler with silver accents.",
+    "Set the white bell to the left of the red stapler",
+    "Carefully position the simple hand bell with black stand to the left of the stapler in bright red color.",
+    "Use the right arm to set the rounded bell with flat black part left of the red stapler",
+    "Position the white bell with black bottom carefully to the left of the plastic stapler with metal top.",
+    "Move the white bell with black bottom to the left side of the red stapler for binding papers",
+    "Stick the bell shaped like half-circle dome on the left of the metallic stapler with red body",
+    "Position the white bell with black bottom to the left of the compact stapler",
+    "With the right arm, set the white dome bell on the left of the compact red stapler with silver accents.",
+    "Place the bell shaped like half-circle dome left of the red stapler using the right arm",
+    "Grab the white and black colored bell with the right arm and set left of the small red stapler",
+    "With the right arm, position the small desk bell for tapping left of the handheld red stapler",
+    "Use the right arm to put the white bell with black bottom left of the stapler with rectangular silver mechanism",
+    "Move the compact tabletop bell to the left of the red stapler for binding papers",
+    "With the right arm, position the small desk bell for tapping left of the stapler with rectangular silver mechanism.",
+    "Shift the bell with black flat base leftward to the side of the plastic stapler with metal top",
+    "Place the bell with black flat base to rest left of the lightweight red stapler using the right arm",
+    "With the right arm, move the white bell to the left side of the red stapler.",
+    "Shift the bell shaped like half-circle dome and position it left of the metallic stapler with red body.",
+    "Place the bell shaped like half-circle dome directly to the left of the compact red stapler with silver accents.",
+    "Grab the white bell with black bottom using the right arm and place it left of the stapler with rectangular silver mechanism.",
+    "Using the right arm, move the bell with metallic top and plastic base left of the small red stapler.",
+    "Place the compact tabletop bell exactly to the left of the red stapler for binding papers",
+    "Grab the rounded bell with flat black part using the right arm and place left of the compact stapler.",
+    "With the right arm, stick the white bell with black bottom left of the plastic stapler with metal top",
+    "Adjust the small desk bell for tapping to rest on the red stapler for binding papers's left",
+    "Put the bell with black flat base to the left of the metallic stapler with red body"
+  ],
+  "unseen": [
+    "Place the smooth metal bell to the left of the stapler with smooth plastic body using the right arm",
+    "Grab the lightweight bell with smooth surface and place left of the shiny red plastic stapler",
+    "Set the medium-sized bell down to the left of the shiny red plastic stapler",
+    "Set the lightweight bell with smooth surface on the left side of the stapler with smooth plastic body",
+    "Pick the lightweight bell with smooth surface and set it left of the shiny red plastic stapler.",
+    "Use the right arm to place the medium-sized bell left of the shiny red plastic stapler.",
+    "Position the medium-sized bell on the left of the shiny red plastic stapler",
+    "Set the medium-sized bell on the left side of the stapler with silver metal top.",
+    "Use the right arm to put the lightweight bell with smooth surface left of the stapler with silver metal top.",
+    "Set the medium-sized bell to the left of the stapler with smooth plastic body",
+    "Place the lightweight bell with smooth surface to the left of the stapler with smooth plastic body using the right arm",
+    "Grab the lightweight bell with smooth surface and place left of the shiny red plastic stapler",
+    "Set the lightweight bell with smooth surface down to the left of the stapler with smooth plastic body",
+    "Set the medium-sized bell on the left side of the stapler with smooth plastic body",
+    "Pick the medium-sized bell and set it left of the stapler with silver metal top.",
+    "Use the right arm to place the lightweight bell with smooth surface left of the shiny red plastic stapler.",
+    "Position the smooth metal bell on the left of the shiny red plastic stapler",
+    "Set the lightweight bell with smooth surface on the left side of the stapler with smooth plastic body.",
+    "Use the right arm to put the medium-sized bell left of the shiny red plastic stapler.",
+    "Set the lightweight bell with smooth surface to the left of the shiny red plastic stapler",
+    "Place the smooth metal bell to the left of the stapler with silver metal top using the right arm",
+    "Grab the lightweight bell with smooth surface and place left of the shiny red plastic stapler",
+    "Set the smooth metal bell down to the left of the stapler with smooth plastic body",
+    "Set the medium-sized bell on the left side of the shiny red plastic stapler",
+    "Pick the smooth metal bell and set it left of the stapler with silver metal top.",
+    "Use the right arm to place the medium-sized bell left of the shiny red plastic stapler.",
+    "Position the smooth metal bell on the left of the stapler with smooth plastic body",
+    "Set the smooth metal bell on the left side of the stapler with silver metal top.",
+    "Use the right arm to put the medium-sized bell left of the shiny red plastic stapler.",
+    "Set the lightweight bell with smooth surface to the left of the stapler with smooth plastic body",
+    "Place the lightweight bell with smooth surface to the left of the stapler with silver metal top using the right arm",
+    "Grab the lightweight bell with smooth surface and place left of the stapler with silver metal top",
+    "Set the medium-sized bell down to the left of the stapler with silver metal top",
+    "Set the lightweight bell with smooth surface on the left side of the shiny red plastic stapler",
+    "Pick the lightweight bell with smooth surface and set it left of the stapler with silver metal top.",
+    "Use the right arm to place the smooth metal bell left of the shiny red plastic stapler.",
+    "Position the smooth metal bell on the left of the stapler with silver metal top",
+    "Set the lightweight bell with smooth surface on the left side of the stapler with silver metal top.",
+    "Use the right arm to put the smooth metal bell left of the stapler with smooth plastic body.",
+    "Set the lightweight bell with smooth surface to the left of the stapler with silver metal top",
+    "Place the lightweight bell with smooth surface to the left of the stapler with smooth plastic body using the right arm",
+    "Grab the medium-sized bell and place left of the stapler with smooth plastic body",
+    "Set the smooth metal bell down to the left of the stapler with smooth plastic body",
+    "Set the smooth metal bell on the left side of the stapler with silver metal top",
+    "Pick the lightweight bell with smooth surface and set it left of the shiny red plastic stapler.",
+    "Use the right arm to place the lightweight bell with smooth surface left of the stapler with silver metal top.",
+    "Position the lightweight bell with smooth surface on the left of the stapler with silver metal top",
+    "Set the smooth metal bell on the left side of the stapler with smooth plastic body.",
+    "Use the right arm to put the smooth metal bell left of the stapler with smooth plastic body.",
+    "Set the lightweight bell with smooth surface to the left of the shiny red plastic stapler",
+    "Place the lightweight bell with smooth surface to the left of the shiny red plastic stapler using the right arm",
+    "Grab the lightweight bell with smooth surface and place left of the stapler with smooth plastic body",
+    "Set the medium-sized bell down to the left of the stapler with smooth plastic body",
+    "Set the smooth metal bell on the left side of the shiny red plastic stapler",
+    "Pick the smooth metal bell and set it left of the shiny red plastic stapler.",
+    "Use the right arm to place the medium-sized bell left of the stapler with silver metal top.",
+    "Position the lightweight bell with smooth surface on the left of the stapler with silver metal top",
+    "Set the medium-sized bell on the left side of the shiny red plastic stapler.",
+    "Use the right arm to put the lightweight bell with smooth surface left of the stapler with silver metal top.",
+    "Set the lightweight bell with smooth surface to the left of the shiny red plastic stapler",
+    "Place the lightweight bell with smooth surface to the left of the stapler with smooth plastic body using the right arm",
+    "Grab the medium-sized bell and place left of the stapler with silver metal top",
+    "Set the medium-sized bell down to the left of the stapler with silver metal top",
+    "Set the smooth metal bell on the left side of the shiny red plastic stapler",
+    "Pick the smooth metal bell and set it left of the stapler with smooth plastic body.",
+    "Use the right arm to place the medium-sized bell left of the stapler with silver metal top.",
+    "Position the smooth metal bell on the left of the stapler with silver metal top",
+    "Set the smooth metal bell on the left side of the stapler with smooth plastic body.",
+    "Use the right arm to put the lightweight bell with smooth surface left of the shiny red plastic stapler.",
+    "Set the medium-sized bell to the left of the shiny red plastic stapler",
+    "Place the medium-sized bell to the left of the stapler with silver metal top using the right arm",
+    "Grab the medium-sized bell and place left of the stapler with smooth plastic body",
+    "Set the lightweight bell with smooth surface down to the left of the stapler with smooth plastic body",
+    "Set the smooth metal bell on the left side of the shiny red plastic stapler",
+    "Pick the lightweight bell with smooth surface and set it left of the stapler with silver metal top.",
+    "Use the right arm to place the lightweight bell with smooth surface left of the shiny red plastic stapler.",
+    "Position the medium-sized bell on the left of the shiny red plastic stapler",
+    "Set the smooth metal bell on the left side of the shiny red plastic stapler.",
+    "Use the right arm to put the medium-sized bell left of the shiny red plastic stapler.",
+    "Set the smooth metal bell to the left of the shiny red plastic stapler",
+    "Place the lightweight bell with smooth surface to the left of the stapler with silver metal top using the right arm",
+    "Grab the smooth metal bell and place left of the stapler with silver metal top",
+    "Set the lightweight bell with smooth surface down to the left of the stapler with silver metal top",
+    "Set the lightweight bell with smooth surface on the left side of the stapler with silver metal top",
+    "Pick the lightweight bell with smooth surface and set it left of the stapler with silver metal top.",
+    "Use the right arm to place the lightweight bell with smooth surface left of the stapler with silver metal top.",
+    "Position the medium-sized bell on the left of the stapler with silver metal top",
+    "Set the medium-sized bell on the left side of the shiny red plastic stapler.",
+    "Use the right arm to put the medium-sized bell left of the shiny red plastic stapler.",
+    "Set the lightweight bell with smooth surface to the left of the stapler with smooth plastic body",
+    "Place the lightweight bell with smooth surface to the left of the shiny red plastic stapler using the right arm",
+    "Grab the smooth metal bell and place left of the stapler with smooth plastic body",
+    "Set the smooth metal bell down to the left of the stapler with silver metal top",
+    "Set the lightweight bell with smooth surface on the left side of the shiny red plastic stapler",
+    "Pick the medium-sized bell and set it left of the stapler with smooth plastic body.",
+    "Use the right arm to place the medium-sized bell left of the stapler with smooth plastic body.",
+    "Position the smooth metal bell on the left of the shiny red plastic stapler",
+    "Set the smooth metal bell on the left side of the stapler with smooth plastic body.",
+    "Use the right arm to put the medium-sized bell left of the stapler with silver metal top.",
+    "Set the smooth metal bell to the left of the stapler with silver metal top"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode6.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a671672257fedc56059b7d73f3197f5798d14e8
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop the soft brown bread to the left of the rectangular woodenblock with smooth grain",
+    "Place the small golden brown bread carefully to the rectangular wood block with grain texture's left",
+    "Grab the light brown bread with ridges using the right arm and place it left of the light brown woodenblock for building.",
+    "Using the right arm, move the bread with golden-brown crust left of the light brown woodenblock.",
+    "With the right arm, move the bread with warm golden color to the left side of the medium rectangle-shaped woodenblock.",
+    "Set the soft brown bread on the left side of the light brown woodenblock.",
+    "Stick the bread with split top on the left of the light brown woodenblock for building",
+    "Grab the bread with split top with the right arm and shift it left of the rectangular woodenblock.",
+    "Set the small golden brown bread directly to the left of the rectangular block made of wood",
+    "Place the light brown loaf with smooth sides on the left of the rectangular woodenblock with smooth grain.",
+    "Move the small golden brown bread to the left of the woodenblock medium size smooth texture.",
+    "Move the light brown loaf with smooth sides to the left of the medium rectangle-shaped woodenblock.",
+    "Using the right arm, place the golden bread loaf on the left of the rectangular wood block with grain texture",
+    "Place the golden bread loaf left of the medium woodenblock using the right arm",
+    "Put the light brown loaf with smooth sides on the left side of the rectangular woodenblock with smooth grain",
+    "Drop the light brown loaf with smooth sides on the left side of the rectangular woodenblock",
+    "Position the light brown bread with ridges to the left of the rectangular wood block with grain texture.",
+    "Put the bread with warm golden color to the left of the building block with smooth surface",
+    "Set the brown loaf carefully on the left of the woodenblock light color rectangular prism",
+    "Place the light brown loaf with smooth sides exactly to the left of the rectangular block made of wood",
+    "Use the right arm to position the bread with golden-brown crust left of the medium woodenblock",
+    "Use the right arm to move the bread with golden-brown crust to the left of the rectangular woodenblock with smooth grain.",
+    "Set the smooth loaf with rounded edges to the left of the light brown woodenblock",
+    "With the right arm, position the small loaf with curved top left of the building block with smooth surface",
+    "Use the right arm to set the brown loaf left of the medium woodenblock",
+    "Grab the golden bread loaf with the right arm and set left of the woodenblock light color rectangular prism",
+    "Set the brown loaf left of the rectangular block made of wood.",
+    "Using the right arm, set the small loaf with curved top to the left of the medium woodenblock.",
+    "Move the light brown bread with ridges to the left of the woodenblock medium size smooth texture",
+    "With the right arm, position the bread with golden-brown crust left of the light brown woodenblock.",
+    "Using the right arm, put the golden bread loaf on left of the medium rectangle-shaped woodenblock",
+    "Use the right arm, move the brown loaf left of the rectangular woodenblock",
+    "Position the small loaf with curved top to the left of the light brown rectangular wood block",
+    "Use the right arm and place the smooth loaf with rounded edges left of the building block with smooth surface.",
+    "Place the soft brown bread to rest left of the medium woodenblock using the right arm",
+    "Position the light brown loaf with smooth sides carefully to the left of the woodenblock light color rectangular prism.",
+    "With the right arm, set the hand-sized oval loaf on the left of the rectangular wood block with grain texture.",
+    "Move the golden bread loaf to the left side of the medium rectangle-shaped woodenblock",
+    "Grab the golden bread loaf using the right arm and move left of the rectangular woodenblock",
+    "Shift the bread with golden-brown crust and position it left of the woodenblock light color rectangular prism.",
+    "Use the right arm to put the smooth loaf with rounded edges left of the medium woodenblock",
+    "Adjust the small golden brown bread to rest on the rectangular wood block with grain texture's left",
+    "Carefully position the smooth loaf with rounded edges to the left of the rectangular block made of wood.",
+    "Use the right arm to move the bread with warm golden color to the light brown woodenblock's left",
+    "Grab the light brown loaf with smooth sides using the right arm and place left of the light brown rectangular wood block.",
+    "Shift the smooth loaf with rounded edges leftward to the side of the rectangular woodenblock with smooth grain",
+    "Place the small loaf with curved top directly to the left of the light brown woodenblock for building.",
+    "With the right arm, place the smooth loaf with rounded edges left of the light brown rectangular wood block",
+    "Place the golden bread loaf left of the light brown rectangular wood block using the right arm",
+    "With the right arm, stick the light brown loaf with smooth sides left of the medium woodenblock",
+    "Drop the soft brown bread to the left of the rectangular woodenblock with smooth grain",
+    "Place the hand-sized oval loaf carefully to the rectangular block made of wood's left",
+    "Grab the small golden brown bread using the right arm and place it left of the rectangular block made of wood.",
+    "Using the right arm, move the bread with golden-brown crust left of the rectangular woodenblock with smooth grain.",
+    "With the right arm, move the bread with warm golden color to the left side of the building block with smooth surface.",
+    "Set the light brown bread with ridges on the left side of the light brown woodenblock.",
+    "Stick the bread with golden-brown crust on the left of the light brown rectangular wood block",
+    "Grab the light brown loaf with smooth sides with the right arm and shift it left of the woodenblock medium size smooth texture.",
+    "Set the golden bread loaf directly to the left of the rectangular woodenblock with smooth grain",
+    "Place the light brown bread with ridges on the left of the woodenblock light color rectangular prism.",
+    "Move the light brown bread with ridges to the left of the light brown woodenblock for building.",
+    "Move the bread with split top to the left of the woodenblock medium size smooth texture.",
+    "Using the right arm, place the bread with golden-brown crust on the left of the woodenblock medium size smooth texture",
+    "Place the hand-sized oval loaf left of the light brown woodenblock for building using the right arm",
+    "Put the smooth loaf with rounded edges on the left side of the light brown woodenblock",
+    "Drop the brown loaf on the left side of the rectangular block made of wood",
+    "Position the hand-sized oval loaf to the left of the light brown woodenblock.",
+    "Put the bread with warm golden color to the left of the building block with smooth surface",
+    "Set the golden bread loaf carefully on the left of the light brown rectangular wood block",
+    "Place the golden bread loaf exactly to the left of the building block with smooth surface",
+    "Use the right arm to position the bread with warm golden color left of the woodenblock light color rectangular prism",
+    "Use the right arm to move the soft brown bread to the left of the light brown rectangular wood block.",
+    "Set the bread with golden-brown crust to the left of the rectangular woodenblock with smooth grain",
+    "With the right arm, position the hand-sized oval loaf left of the rectangular woodenblock with smooth grain",
+    "Use the right arm to set the light brown loaf with smooth sides left of the medium rectangle-shaped woodenblock",
+    "Grab the bread with golden-brown crust with the right arm and set left of the medium rectangle-shaped woodenblock",
+    "Set the golden bread loaf left of the light brown rectangular wood block.",
+    "Using the right arm, set the light brown loaf with smooth sides to the left of the woodenblock light color rectangular prism.",
+    "Move the bread with split top to the left of the woodenblock medium size smooth texture",
+    "With the right arm, position the bread with split top left of the rectangular woodenblock.",
+    "Using the right arm, put the hand-sized oval loaf on left of the medium rectangle-shaped woodenblock",
+    "Use the right arm, move the soft brown bread left of the light brown woodenblock for building",
+    "Position the small golden brown bread to the left of the building block with smooth surface",
+    "Use the right arm and place the small loaf with curved top left of the rectangular woodenblock with smooth grain.",
+    "Place the bread with golden-brown crust to rest left of the light brown rectangular wood block using the right arm",
+    "Position the brown loaf carefully to the left of the rectangular block made of wood.",
+    "With the right arm, set the brown loaf on the left of the rectangular woodenblock.",
+    "Move the golden bread loaf to the left side of the medium woodenblock",
+    "Grab the light brown bread with ridges using the right arm and move left of the medium woodenblock",
+    "Shift the smooth loaf with rounded edges and position it left of the medium rectangle-shaped woodenblock.",
+    "Use the right arm to put the smooth loaf with rounded edges left of the rectangular block made of wood",
+    "Adjust the smooth loaf with rounded edges to rest on the light brown rectangular wood block's left",
+    "Carefully position the bread with golden-brown crust to the left of the woodenblock medium size smooth texture.",
+    "Use the right arm to move the smooth loaf with rounded edges to the woodenblock medium size smooth texture's left",
+    "Grab the soft brown bread using the right arm and place left of the light brown woodenblock.",
+    "Shift the bread with split top leftward to the side of the woodenblock medium size smooth texture",
+    "Place the bread with golden-brown crust directly to the left of the light brown woodenblock.",
+    "With the right arm, place the brown loaf left of the woodenblock medium size smooth texture",
+    "Place the light brown bread with ridges left of the light brown woodenblock using the right arm",
+    "With the right arm, stick the soft brown bread left of the woodenblock medium size smooth texture"
+  ],
+  "unseen": [
+    "Use the right arm to put the oval bread left of the smooth woodenblock made of light wood.",
+    "Set the oval bread on the left side of the smooth woodenblock.",
+    "Grab the oval bread and place left of the smooth woodenblock",
+    "Set the oval-shaped soft bread down to the left of the smooth woodenblock made of light wood",
+    "Set the rounded oval bread to the left of the smooth woodenblock",
+    "Use the right arm to place the oval bread left of the medium rectangular woodenblock with grain.",
+    "Pick the rounded oval bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval bread to the left of the smooth woodenblock made of light wood using the right arm",
+    "Set the rounded oval bread on the left side of the smooth woodenblock",
+    "Position the rounded oval bread on the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to put the oval bread left of the smooth woodenblock made of light wood.",
+    "Set the oval bread on the left side of the smooth woodenblock made of light wood.",
+    "Grab the rounded oval bread and place left of the smooth woodenblock",
+    "Set the oval bread down to the left of the smooth woodenblock",
+    "Set the oval-shaped soft bread to the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to place the rounded oval bread left of the medium rectangular woodenblock with grain.",
+    "Pick the oval-shaped soft bread and set it left of the smooth woodenblock made of light wood.",
+    "Place the oval bread to the left of the medium rectangular woodenblock with grain using the right arm",
+    "Set the oval-shaped soft bread on the left side of the medium rectangular woodenblock with grain",
+    "Position the oval bread on the left of the smooth woodenblock made of light wood",
+    "Use the right arm to put the oval-shaped soft bread left of the medium rectangular woodenblock with grain.",
+    "Set the oval-shaped soft bread on the left side of the medium rectangular woodenblock with grain.",
+    "Grab the rounded oval bread and place left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread down to the left of the smooth woodenblock",
+    "Set the oval bread to the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to place the oval-shaped soft bread left of the smooth woodenblock made of light wood.",
+    "Pick the oval-shaped soft bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval bread to the left of the smooth woodenblock using the right arm",
+    "Set the oval bread on the left side of the smooth woodenblock",
+    "Position the rounded oval bread on the left of the smooth woodenblock made of light wood",
+    "Use the right arm to put the rounded oval bread left of the medium rectangular woodenblock with grain.",
+    "Set the oval-shaped soft bread on the left side of the smooth woodenblock.",
+    "Grab the rounded oval bread and place left of the smooth woodenblock made of light wood",
+    "Set the oval-shaped soft bread down to the left of the smooth woodenblock made of light wood",
+    "Set the oval bread to the left of the smooth woodenblock",
+    "Use the right arm to place the rounded oval bread left of the medium rectangular woodenblock with grain.",
+    "Pick the rounded oval bread and set it left of the smooth woodenblock made of light wood.",
+    "Place the rounded oval bread to the left of the smooth woodenblock using the right arm",
+    "Set the rounded oval bread on the left side of the smooth woodenblock made of light wood",
+    "Position the rounded oval bread on the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to put the rounded oval bread left of the smooth woodenblock.",
+    "Set the oval-shaped soft bread on the left side of the smooth woodenblock.",
+    "Grab the rounded oval bread and place left of the smooth woodenblock",
+    "Set the rounded oval bread down to the left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread to the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to place the oval-shaped soft bread left of the smooth woodenblock.",
+    "Pick the rounded oval bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval-shaped soft bread to the left of the medium rectangular woodenblock with grain using the right arm",
+    "Set the oval bread on the left side of the medium rectangular woodenblock with grain",
+    "Position the rounded oval bread on the left of the smooth woodenblock",
+    "Use the right arm to put the oval bread left of the smooth woodenblock made of light wood.",
+    "Set the oval-shaped soft bread on the left side of the smooth woodenblock made of light wood.",
+    "Grab the rounded oval bread and place left of the medium rectangular woodenblock with grain",
+    "Set the oval-shaped soft bread down to the left of the smooth woodenblock",
+    "Set the oval bread to the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to place the oval-shaped soft bread left of the smooth woodenblock made of light wood.",
+    "Pick the rounded oval bread and set it left of the smooth woodenblock made of light wood.",
+    "Place the rounded oval bread to the left of the smooth woodenblock made of light wood using the right arm",
+    "Set the oval bread on the left side of the smooth woodenblock made of light wood",
+    "Position the oval bread on the left of the smooth woodenblock",
+    "Use the right arm to put the oval bread left of the smooth woodenblock made of light wood.",
+    "Set the oval bread on the left side of the medium rectangular woodenblock with grain.",
+    "Grab the rounded oval bread and place left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread down to the left of the smooth woodenblock made of light wood",
+    "Set the oval bread to the left of the smooth woodenblock made of light wood",
+    "Use the right arm to place the oval-shaped soft bread left of the smooth woodenblock made of light wood.",
+    "Pick the oval-shaped soft bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval bread to the left of the smooth woodenblock made of light wood using the right arm",
+    "Set the oval bread on the left side of the smooth woodenblock",
+    "Position the rounded oval bread on the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to put the rounded oval bread left of the smooth woodenblock made of light wood.",
+    "Set the rounded oval bread on the left side of the medium rectangular woodenblock with grain.",
+    "Grab the oval bread and place left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread down to the left of the smooth woodenblock",
+    "Set the rounded oval bread to the left of the smooth woodenblock",
+    "Use the right arm to place the oval-shaped soft bread left of the smooth woodenblock.",
+    "Pick the oval bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval-shaped soft bread to the left of the smooth woodenblock using the right arm",
+    "Set the oval bread on the left side of the smooth woodenblock made of light wood",
+    "Position the oval bread on the left of the smooth woodenblock",
+    "Use the right arm to put the rounded oval bread left of the medium rectangular woodenblock with grain.",
+    "Set the oval-shaped soft bread on the left side of the smooth woodenblock made of light wood.",
+    "Grab the rounded oval bread and place left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread down to the left of the medium rectangular woodenblock with grain",
+    "Set the oval bread to the left of the medium rectangular woodenblock with grain",
+    "Use the right arm to place the oval bread left of the smooth woodenblock.",
+    "Pick the oval bread and set it left of the smooth woodenblock.",
+    "Place the oval bread to the left of the smooth woodenblock using the right arm",
+    "Set the oval-shaped soft bread on the left side of the smooth woodenblock",
+    "Position the rounded oval bread on the left of the smooth woodenblock made of light wood",
+    "Use the right arm to put the rounded oval bread left of the smooth woodenblock.",
+    "Set the oval-shaped soft bread on the left side of the medium rectangular woodenblock with grain.",
+    "Grab the rounded oval bread and place left of the smooth woodenblock made of light wood",
+    "Set the rounded oval bread down to the left of the medium rectangular woodenblock with grain",
+    "Set the rounded oval bread to the left of the smooth woodenblock",
+    "Use the right arm to place the oval bread left of the smooth woodenblock.",
+    "Pick the oval-shaped soft bread and set it left of the medium rectangular woodenblock with grain.",
+    "Place the oval-shaped soft bread to the left of the smooth woodenblock made of light wood using the right arm",
+    "Set the rounded oval bread on the left side of the medium rectangular woodenblock with grain",
+    "Position the oval bread on the left of the smooth woodenblock"
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode7.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2234cccc42c05172a268199a0b46619881cc0f4
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to position the blue toycar left of the metallic phone with glass screen front",
+    "Position the toycar for kids play to the left of the phone with black touchscreen.",
+    "With the right arm, move the blue top toycar to the left side of the palm-sized phone.",
+    "Adjust the small plastic toycar to rest on the silver phone's left",
+    "Put the palm-sized blue toycar to the left of the palm-sized phone",
+    "Use the right arm to move the toycar with shiny wheels to the left of the silver phone with black screen.",
+    "Using the right arm, place the toycar for kids play on the left of the compact phone with flat design",
+    "Stick the toycar with black tires on the left of the sleek phone",
+    "Put the toycar with transparent windshield on the left side of the phone with smooth glass front",
+    "Grab the blue and gray toycar using the right arm and place it left of the phone with smooth back panel.",
+    "Use the right arm to set the toycar with shiny wheels left of the rectangular phone",
+    "Position the blue toycar to the left of the phone with metallic body",
+    "Place the blue and gray toycar directly to the left of the phone with smooth glass front.",
+    "Place the blue top toycar carefully to the compact phone with flat design's left",
+    "Place the bright sleek toycar exactly to the left of the phone with metallic body",
+    "Use the right arm and place the toycar for kids play left of the phone with screen and side buttons.",
+    "Set the toycar with shiny wheels to the left of the phone with smooth back panel",
+    "Use the right arm to move the toycar with smooth texture to the metallic phone with glass screen front's left",
+    "Position the blue and gray toycar carefully to the left of the palm-sized phone.",
+    "Using the right arm, set the blue and gray toycar to the left of the compact phone with flat design.",
+    "With the right arm, position the toycar with shiny plastic finish left of the palm-sized phone",
+    "Place the toycar with smooth texture on the left of the silver phone.",
+    "Shift the small plastic toycar leftward to the side of the phone with smooth glass front",
+    "Move the toycar for kids play to the left of the phone with smooth back panel.",
+    "Shift the toycar with smooth texture and position it left of the silver phone with black screen.",
+    "With the right arm, place the palm-sized blue toycar left of the silver phone with black screen",
+    "Grab the palm-sized blue toycar using the right arm and move left of the phone with black touchscreen",
+    "Move the blue and gray toycar to the left of the phone with smooth glass front.",
+    "Grab the palm-sized blue toycar with the right arm and shift it left of the sleek phone.",
+    "With the right arm, stick the small plastic toycar left of the rectangular phone",
+    "Using the right arm, put the blue top toycar on left of the compact phone with flat design",
+    "Move the toycar with shiny wheels to the left side of the rectangular phone",
+    "Grab the toycar with shiny wheels with the right arm and set left of the compact phone with flat design",
+    "Drop the toycar with shiny plastic finish on the left side of the compact phone with flat design",
+    "Set the toycar with transparent windshield directly to the left of the phone with metallic body",
+    "With the right arm, position the toycar with smooth texture left of the silver phone with black screen.",
+    "Using the right arm, move the toycar with transparent windshield left of the silver phone with black screen.",
+    "Place the toycar with shiny wheels left of the phone with smooth glass front using the right arm",
+    "Carefully position the toycar for kids play to the left of the sleek phone.",
+    "Place the toycar with shiny plastic finish to rest left of the silver phone with black screen using the right arm",
+    "Set the blue toycar on the left side of the silver phone with black screen.",
+    "Use the right arm, move the blue top toycar left of the silver phone",
+    "Use the right arm to put the toycar for kids play left of the sleek phone",
+    "Set the toycar with smooth texture carefully on the left of the silver phone",
+    "Grab the toycar with transparent windshield using the right arm and place left of the sleek phone.",
+    "Set the blue toycar left of the phone with black touchscreen.",
+    "Drop the blue and gray toycar to the left of the phone with screen and side buttons",
+    "Move the toycar with shiny plastic finish to the left of the compact phone with flat design",
+    "Place the blue and gray toycar left of the silver phone using the right arm",
+    "With the right arm, set the small plastic toycar on the left of the phone with screen and side buttons.",
+    "Use the right arm to position the small plastic toycar left of the sleek phone",
+    "Position the toycar for kids play to the left of the silver phone.",
+    "With the right arm, move the blue toycar to the left side of the silver phone with black screen.",
+    "Adjust the toycar for kids play to rest on the metallic phone with glass screen front's left",
+    "Put the blue toycar to the left of the sleek phone",
+    "Use the right arm to move the toycar with shiny wheels to the left of the compact phone with flat design.",
+    "Using the right arm, place the toycar with smooth texture on the left of the phone with black touchscreen",
+    "Stick the toycar with transparent windshield on the left of the silver phone",
+    "Put the blue toycar on the left side of the compact phone with flat design",
+    "Grab the blue top toycar using the right arm and place it left of the rectangular phone.",
+    "Use the right arm to set the toycar with transparent windshield left of the palm-sized phone",
+    "Position the toycar with shiny wheels to the left of the phone with screen and side buttons",
+    "Place the blue top toycar directly to the left of the phone with screen and side buttons.",
+    "Place the toycar with transparent windshield carefully to the metallic phone with glass screen front's left",
+    "Place the toycar for kids play exactly to the left of the phone with smooth glass front",
+    "Use the right arm and place the blue and gray toycar left of the phone with black touchscreen.",
+    "Set the palm-sized blue toycar to the left of the phone with screen and side buttons",
+    "Use the right arm to move the blue and gray toycar to the silver phone with black screen's left",
+    "Position the toycar with shiny wheels carefully to the left of the phone with metallic body.",
+    "Using the right arm, set the bright sleek toycar to the left of the silver phone.",
+    "With the right arm, position the blue toycar left of the phone with metallic body",
+    "Place the small plastic toycar on the left of the phone with metallic body.",
+    "Shift the palm-sized blue toycar leftward to the side of the phone with screen and side buttons",
+    "Move the toycar with black tires to the left of the silver phone with black screen.",
+    "Shift the toycar with smooth texture and position it left of the palm-sized phone.",
+    "With the right arm, place the bright sleek toycar left of the silver phone with black screen",
+    "Grab the toycar with shiny wheels using the right arm and move left of the phone with smooth back panel",
+    "Move the palm-sized blue toycar to the left of the phone with metallic body.",
+    "Grab the small plastic toycar with the right arm and shift it left of the phone with metallic body.",
+    "With the right arm, stick the toycar with transparent windshield left of the silver phone with black screen",
+    "Using the right arm, put the toycar with smooth texture on left of the palm-sized phone",
+    "Move the palm-sized blue toycar to the left side of the phone with smooth glass front",
+    "Grab the toycar with black tires with the right arm and set left of the rectangular phone",
+    "Drop the toycar with transparent windshield on the left side of the silver phone",
+    "Set the toycar with black tires directly to the left of the silver phone with black screen",
+    "With the right arm, position the toycar for kids play left of the silver phone.",
+    "Using the right arm, move the blue top toycar left of the phone with smooth glass front.",
+    "Place the blue and gray toycar left of the phone with smooth back panel using the right arm",
+    "Carefully position the toycar with black tires to the left of the silver phone.",
+    "Place the blue and gray toycar to rest left of the silver phone with black screen using the right arm",
+    "Set the blue and gray toycar on the left side of the rectangular phone.",
+    "Use the right arm, move the palm-sized blue toycar left of the phone with black touchscreen",
+    "Use the right arm to put the toycar with smooth texture left of the phone with black touchscreen",
+    "Set the toycar with shiny plastic finish carefully on the left of the rectangular phone",
+    "Grab the bright sleek toycar using the right arm and place left of the phone with metallic body.",
+    "Set the toycar with shiny plastic finish left of the palm-sized phone.",
+    "Drop the toycar for kids play to the left of the compact phone with flat design",
+    "Move the blue and gray toycar to the left of the sleek phone",
+    "Place the toycar with transparent windshield left of the compact phone with flat design using the right arm",
+    "With the right arm, set the bright sleek toycar on the left of the phone with smooth glass front."
+  ],
+  "unseen": [
+    "Use the right arm to put the compact toycar with rotating wheels left of the handheld phone with silver frame.",
+    "Use the right arm to place the toycar with rounded body left of the rectangular silver phone with rounded edges.",
+    "Set the toycar with rounded body on the left side of the modern phone",
+    "Set the toycar with rounded body down to the left of the rectangular silver phone with rounded edges",
+    "Set the gray base toycar to the left of the rectangular silver phone with rounded edges",
+    "Position the compact toycar with rotating wheels on the left of the rectangular silver phone with rounded edges",
+    "Grab the compact toycar with rotating wheels and place left of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body on the left side of the rectangular silver phone with rounded edges.",
+    "Place the gray base toycar to the left of the modern phone using the right arm",
+    "Pick the gray base toycar and set it left of the modern phone.",
+    "Use the right arm to put the toycar with rounded body left of the handheld phone with silver frame.",
+    "Use the right arm to place the gray base toycar left of the modern phone.",
+    "Set the toycar with rounded body on the left side of the modern phone",
+    "Set the toycar with rounded body down to the left of the handheld phone with silver frame",
+    "Set the toycar with rounded body to the left of the handheld phone with silver frame",
+    "Position the gray base toycar on the left of the modern phone",
+    "Grab the compact toycar with rotating wheels and place left of the handheld phone with silver frame",
+    "Set the gray base toycar on the left side of the handheld phone with silver frame.",
+    "Place the toycar with rounded body to the left of the rectangular silver phone with rounded edges using the right arm",
+    "Pick the toycar with rounded body and set it left of the handheld phone with silver frame.",
+    "Use the right arm to put the gray base toycar left of the handheld phone with silver frame.",
+    "Use the right arm to place the toycar with rounded body left of the rectangular silver phone with rounded edges.",
+    "Set the compact toycar with rotating wheels on the left side of the modern phone",
+    "Set the compact toycar with rotating wheels down to the left of the handheld phone with silver frame",
+    "Set the gray base toycar to the left of the rectangular silver phone with rounded edges",
+    "Position the toycar with rounded body on the left of the rectangular silver phone with rounded edges",
+    "Grab the gray base toycar and place left of the rectangular silver phone with rounded edges",
+    "Set the compact toycar with rotating wheels on the left side of the handheld phone with silver frame.",
+    "Place the compact toycar with rotating wheels to the left of the rectangular silver phone with rounded edges using the right arm",
+    "Pick the compact toycar with rotating wheels and set it left of the modern phone.",
+    "Use the right arm to put the gray base toycar left of the modern phone.",
+    "Use the right arm to place the compact toycar with rotating wheels left of the modern phone.",
+    "Set the toycar with rounded body on the left side of the handheld phone with silver frame",
+    "Set the gray base toycar down to the left of the modern phone",
+    "Set the toycar with rounded body to the left of the handheld phone with silver frame",
+    "Position the gray base toycar on the left of the rectangular silver phone with rounded edges",
+    "Grab the gray base toycar and place left of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body on the left side of the modern phone.",
+    "Place the gray base toycar to the left of the modern phone using the right arm",
+    "Pick the gray base toycar and set it left of the modern phone.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the handheld phone with silver frame.",
+    "Use the right arm to place the toycar with rounded body left of the handheld phone with silver frame.",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body down to the left of the modern phone",
+    "Set the toycar with rounded body to the left of the rectangular silver phone with rounded edges",
+    "Position the toycar with rounded body on the left of the rectangular silver phone with rounded edges",
+    "Grab the toycar with rounded body and place left of the handheld phone with silver frame",
+    "Set the gray base toycar on the left side of the handheld phone with silver frame.",
+    "Place the toycar with rounded body to the left of the rectangular silver phone with rounded edges using the right arm",
+    "Pick the gray base toycar and set it left of the modern phone.",
+    "Use the right arm to put the gray base toycar left of the rectangular silver phone with rounded edges.",
+    "Use the right arm to place the compact toycar with rotating wheels left of the rectangular silver phone with rounded edges.",
+    "Set the compact toycar with rotating wheels on the left side of the handheld phone with silver frame",
+    "Set the toycar with rounded body down to the left of the handheld phone with silver frame",
+    "Set the toycar with rounded body to the left of the handheld phone with silver frame",
+    "Position the gray base toycar on the left of the handheld phone with silver frame",
+    "Grab the toycar with rounded body and place left of the modern phone",
+    "Set the gray base toycar on the left side of the rectangular silver phone with rounded edges.",
+    "Place the compact toycar with rotating wheels to the left of the handheld phone with silver frame using the right arm",
+    "Pick the compact toycar with rotating wheels and set it left of the rectangular silver phone with rounded edges.",
+    "Use the right arm to put the toycar with rounded body left of the rectangular silver phone with rounded edges.",
+    "Use the right arm to place the toycar with rounded body left of the handheld phone with silver frame.",
+    "Set the toycar with rounded body on the left side of the modern phone",
+    "Set the gray base toycar down to the left of the modern phone",
+    "Set the toycar with rounded body to the left of the modern phone",
+    "Position the toycar with rounded body on the left of the handheld phone with silver frame",
+    "Grab the compact toycar with rotating wheels and place left of the handheld phone with silver frame",
+    "Set the compact toycar with rotating wheels on the left side of the handheld phone with silver frame.",
+    "Place the gray base toycar to the left of the modern phone using the right arm",
+    "Pick the compact toycar with rotating wheels and set it left of the modern phone.",
+    "Use the right arm to put the compact toycar with rotating wheels left of the rectangular silver phone with rounded edges.",
+    "Use the right arm to place the gray base toycar left of the handheld phone with silver frame.",
+    "Set the toycar with rounded body on the left side of the handheld phone with silver frame",
+    "Set the gray base toycar down to the left of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body to the left of the rectangular silver phone with rounded edges",
+    "Position the gray base toycar on the left of the handheld phone with silver frame",
+    "Grab the compact toycar with rotating wheels and place left of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body on the left side of the handheld phone with silver frame.",
+    "Place the compact toycar with rotating wheels to the left of the rectangular silver phone with rounded edges using the right arm",
+    "Pick the gray base toycar and set it left of the handheld phone with silver frame.",
+    "Use the right arm to put the toycar with rounded body left of the rectangular silver phone with rounded edges.",
+    "Use the right arm to place the toycar with rounded body left of the handheld phone with silver frame.",
+    "Set the gray base toycar on the left side of the rectangular silver phone with rounded edges",
+    "Set the gray base toycar down to the left of the modern phone",
+    "Set the gray base toycar to the left of the rectangular silver phone with rounded edges",
+    "Position the toycar with rounded body on the left of the rectangular silver phone with rounded edges",
+    "Grab the gray base toycar and place left of the handheld phone with silver frame",
+    "Set the toycar with rounded body on the left side of the modern phone.",
+    "Place the compact toycar with rotating wheels to the left of the modern phone using the right arm",
+    "Pick the toycar with rounded body and set it left of the handheld phone with silver frame.",
+    "Use the right arm to put the gray base toycar left of the modern phone.",
+    "Use the right arm to place the gray base toycar left of the modern phone.",
+    "Set the toycar with rounded body on the left side of the rectangular silver phone with rounded edges",
+    "Set the toycar with rounded body down to the left of the handheld phone with silver frame",
+    "Set the gray base toycar to the left of the rectangular silver phone with rounded edges",
+    "Position the compact toycar with rotating wheels on the left of the handheld phone with silver frame",
+    "Grab the compact toycar with rotating wheels and place left of the modern phone",
+    "Set the compact toycar with rotating wheels on the left side of the modern phone.",
+    "Place the toycar with rounded body to the left of the handheld phone with silver frame using the right arm",
+    "Pick the toycar with rounded body and set it left of the handheld phone with silver frame."
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode8.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..970da45b97090576b11b7a41425824bea14bb876
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, move the toycar with smooth texture left of the blue playingcards box.",
+    "Drop the palm-sized blue toycar to the left of the playingcards box with white symbols",
+    "Place the toycar with smooth texture left of the rectangular blue playingcards case using the left arm",
+    "Use the left arm to position the toycar with black tires left of the playingcards pack with blue top",
+    "Set the toycar with smooth texture carefully on the left of the palm-sized playingcards carton",
+    "Move the blue and gray toycar to the left side of the playingcards pack with blue top",
+    "Move the toycar with black tires to the left of the blue playingcards box.",
+    "Use the left arm and place the bright sleek toycar left of the blue pack holding playingcards.",
+    "Move the small plastic toycar to the left of the box of playingcards.",
+    "Place the toycar with shiny plastic finish on the left of the playingcards box with white symbols.",
+    "Drop the blue toycar on the left side of the small playingcards container",
+    "Place the blue top toycar directly to the left of the card box with golden designs.",
+    "Use the left arm, move the toycar with black tires left of the box of playingcards",
+    "Place the toycar with shiny plastic finish left of the blue playingcards box using the left arm",
+    "With the left arm, stick the toycar with black tires left of the box of playingcards",
+    "With the left arm, move the palm-sized blue toycar to the left side of the blue pack holding playingcards.",
+    "Position the toycar with smooth texture carefully to the left of the box of playingcards.",
+    "Use the left arm to move the blue top toycar to the left of the blue and white playingcards packaging.",
+    "Using the left arm, set the toycar with smooth texture to the left of the card box with golden designs.",
+    "Place the toycar with black tires to rest left of the card box with golden designs using the left arm",
+    "Position the small plastic toycar to the left of the blue pack holding playingcards.",
+    "Adjust the toycar with shiny plastic finish to rest on the playingcards pack with blue top's left",
+    "Use the left arm to put the toycar with smooth texture left of the blue and white playingcards packaging",
+    "Grab the palm-sized blue toycar with the left arm and set left of the card box with golden designs",
+    "Place the toycar with shiny wheels carefully to the box of playingcards's left",
+    "Put the toycar for kids play to the left of the box of playingcards",
+    "Using the left arm, put the blue and gray toycar on left of the box of playingcards",
+    "Grab the blue toycar using the left arm and place left of the playingcards box with white symbols.",
+    "Grab the small plastic toycar with the left arm and shift it left of the blue playingcards box.",
+    "Grab the blue top toycar using the left arm and place it left of the palm-sized playingcards carton.",
+    "Set the bright sleek toycar to the left of the playingcards box with white symbols",
+    "Set the toycar for kids play left of the blue playingcards box.",
+    "Put the toycar with shiny wheels on the left side of the playingcards box with white symbols",
+    "Use the left arm to move the bright sleek toycar to the blue playingcards box's left",
+    "Set the toycar with smooth texture on the left side of the card box with golden designs.",
+    "With the left arm, set the toycar with smooth texture on the left of the playingcards pack with blue top.",
+    "Use the left arm to set the toycar with black tires left of the rectangular blue playingcards case",
+    "With the left arm, position the palm-sized blue toycar left of the card box with golden designs.",
+    "Using the left arm, place the toycar for kids play on the left of the playingcards pack with blue top",
+    "Shift the toycar with smooth texture and position it left of the playingcards box with white symbols.",
+    "Shift the bright sleek toycar leftward to the side of the small playingcards container",
+    "Grab the blue top toycar using the left arm and move left of the palm-sized playingcards carton",
+    "Carefully position the palm-sized blue toycar to the left of the blue pack holding playingcards.",
+    "With the left arm, position the blue toycar left of the playingcards pack with blue top",
+    "Place the toycar with smooth texture exactly to the left of the blue carton for playingcards",
+    "Move the palm-sized blue toycar to the left of the blue carton for playingcards",
+    "With the left arm, place the blue toycar left of the smooth playingcards holder",
+    "Set the toycar for kids play directly to the left of the box of playingcards",
+    "Stick the toycar with shiny wheels on the left of the blue playingcards box",
+    "Position the toycar with smooth texture to the left of the palm-sized playingcards carton",
+    "Using the left arm, move the blue top toycar left of the card box with golden designs.",
+    "Drop the small plastic toycar to the left of the blue playingcards box",
+    "Place the toycar with shiny wheels left of the box of playingcards using the left arm",
+    "Use the left arm to position the bright sleek toycar left of the smooth playingcards holder",
+    "Set the blue top toycar carefully on the left of the blue pack holding playingcards",
+    "Move the blue and gray toycar to the left side of the rectangular blue playingcards case",
+    "Move the toycar with smooth texture to the left of the blue carton for playingcards.",
+    "Use the left arm and place the blue and gray toycar left of the blue pack holding playingcards.",
+    "Move the toycar with transparent windshield to the left of the card box with golden designs.",
+    "Place the bright sleek toycar on the left of the small playingcards container.",
+    "Drop the toycar with smooth texture on the left side of the card box with golden designs",
+    "Place the toycar with shiny wheels directly to the left of the palm-sized playingcards carton.",
+    "Use the left arm, move the palm-sized blue toycar left of the playingcards pack with blue top",
+    "Place the toycar with shiny wheels left of the blue and white playingcards packaging using the left arm",
+    "With the left arm, stick the blue and gray toycar left of the smooth playingcards holder",
+    "With the left arm, move the bright sleek toycar to the left side of the playingcards box with white symbols.",
+    "Position the toycar with transparent windshield carefully to the left of the playingcards pack with blue top.",
+    "Use the left arm to move the toycar with transparent windshield to the left of the blue carton for playingcards.",
+    "Using the left arm, set the blue top toycar to the left of the playingcards pack with blue top.",
+    "Place the toycar with smooth texture to rest left of the playingcards pack with blue top using the left arm",
+    "Position the palm-sized blue toycar to the left of the blue playingcards box.",
+    "Adjust the bright sleek toycar to rest on the blue carton for playingcards's left",
+    "Use the left arm to put the small plastic toycar left of the blue playingcards box",
+    "Grab the blue top toycar with the left arm and set left of the playingcards pack with blue top",
+    "Place the blue and gray toycar carefully to the playingcards box with white symbols's left",
+    "Put the toycar with transparent windshield to the left of the small playingcards container",
+    "Using the left arm, put the bright sleek toycar on left of the blue pack holding playingcards",
+    "Grab the toycar with transparent windshield using the left arm and place left of the small playingcards container.",
+    "Grab the blue top toycar with the left arm and shift it left of the rectangular blue playingcards case.",
+    "Grab the toycar for kids play using the left arm and place it left of the playingcards pack with blue top.",
+    "Set the toycar with smooth texture to the left of the small playingcards container",
+    "Set the palm-sized blue toycar left of the blue pack holding playingcards.",
+    "Put the toycar with smooth texture on the left side of the blue and white playingcards packaging",
+    "Use the left arm to move the toycar with black tires to the playingcards pack with blue top's left",
+    "Set the palm-sized blue toycar on the left side of the blue pack holding playingcards.",
+    "With the left arm, set the toycar with shiny wheels on the left of the blue carton for playingcards.",
+    "Use the left arm to set the palm-sized blue toycar left of the box of playingcards",
+    "With the left arm, position the bright sleek toycar left of the playingcards box with white symbols.",
+    "Using the left arm, place the bright sleek toycar on the left of the blue pack holding playingcards",
+    "Shift the bright sleek toycar and position it left of the blue and white playingcards packaging.",
+    "Shift the palm-sized blue toycar leftward to the side of the rectangular blue playingcards case",
+    "Grab the blue toycar using the left arm and move left of the playingcards box with white symbols",
+    "Carefully position the toycar with shiny plastic finish to the left of the playingcards pack with blue top.",
+    "With the left arm, position the blue and gray toycar left of the blue playingcards box",
+    "Place the toycar with smooth texture exactly to the left of the palm-sized playingcards carton",
+    "Move the blue top toycar to the left of the playingcards box with white symbols",
+    "With the left arm, place the palm-sized blue toycar left of the rectangular blue playingcards case",
+    "Set the toycar with shiny plastic finish directly to the left of the card box with golden designs",
+    "Stick the blue toycar on the left of the blue playingcards box",
+    "Position the toycar for kids play to the left of the box of playingcards"
+  ],
+  "unseen": [
+    "Use the left arm to place the gray base toycar left of the small packet of playingcards.",
+    "Grab the toycar with rounded body and place left of the small packet of playingcards",
+    "Set the compact toycar with rotating wheels down to the left of the rectangular playingcards case with patterns",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards case with patterns",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards pack.",
+    "Set the toycar with rounded body to the left of the small packet of playingcards",
+    "Pick the compact toycar with rotating wheels and set it left of the small packet of playingcards.",
+    "Place the toycar with rounded body to the left of the small packet of playingcards using the left arm",
+    "Position the gray base toycar on the left of the small packet of playingcards",
+    "Use the left arm to put the gray base toycar left of the rectangular playingcards case with patterns.",
+    "Use the left arm to place the toycar with rounded body left of the rectangular playingcards case with patterns.",
+    "Grab the compact toycar with rotating wheels and place left of the rectangular playingcards case with patterns",
+    "Set the compact toycar with rotating wheels down to the left of the rectangular playingcards pack",
+    "Set the gray base toycar on the left side of the small packet of playingcards",
+    "Set the gray base toycar on the left side of the rectangular playingcards pack.",
+    "Set the gray base toycar to the left of the small packet of playingcards",
+    "Pick the toycar with rounded body and set it left of the rectangular playingcards case with patterns.",
+    "Place the gray base toycar to the left of the small packet of playingcards using the left arm",
+    "Position the toycar with rounded body on the left of the rectangular playingcards pack",
+    "Use the left arm to put the gray base toycar left of the rectangular playingcards case with patterns.",
+    "Use the left arm to place the gray base toycar left of the rectangular playingcards pack.",
+    "Grab the toycar with rounded body and place left of the rectangular playingcards pack",
+    "Set the compact toycar with rotating wheels down to the left of the rectangular playingcards case with patterns",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards pack",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards case with patterns.",
+    "Set the compact toycar with rotating wheels to the left of the small packet of playingcards",
+    "Pick the toycar with rounded body and set it left of the rectangular playingcards pack.",
+    "Place the toycar with rounded body to the left of the rectangular playingcards case with patterns using the left arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular playingcards case with patterns",
+    "Use the left arm to put the compact toycar with rotating wheels left of the rectangular playingcards pack.",
+    "Use the left arm to place the gray base toycar left of the small packet of playingcards.",
+    "Grab the toycar with rounded body and place left of the rectangular playingcards pack",
+    "Set the toycar with rounded body down to the left of the small packet of playingcards",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards pack",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards case with patterns.",
+    "Set the gray base toycar to the left of the small packet of playingcards",
+    "Pick the compact toycar with rotating wheels and set it left of the rectangular playingcards case with patterns.",
+    "Place the compact toycar with rotating wheels to the left of the rectangular playingcards pack using the left arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular playingcards case with patterns",
+    "Use the left arm to put the compact toycar with rotating wheels left of the rectangular playingcards pack.",
+    "Use the left arm to place the gray base toycar left of the small packet of playingcards.",
+    "Grab the gray base toycar and place left of the small packet of playingcards",
+    "Set the compact toycar with rotating wheels down to the left of the rectangular playingcards pack",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards case with patterns",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards pack.",
+    "Set the gray base toycar to the left of the rectangular playingcards pack",
+    "Pick the toycar with rounded body and set it left of the rectangular playingcards pack.",
+    "Place the toycar with rounded body to the left of the rectangular playingcards case with patterns using the left arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular playingcards pack",
+    "Use the left arm to put the compact toycar with rotating wheels left of the small packet of playingcards.",
+    "Use the left arm to place the compact toycar with rotating wheels left of the rectangular playingcards pack.",
+    "Grab the gray base toycar and place left of the rectangular playingcards pack",
+    "Set the toycar with rounded body down to the left of the small packet of playingcards",
+    "Set the gray base toycar on the left side of the rectangular playingcards case with patterns",
+    "Set the gray base toycar on the left side of the rectangular playingcards pack.",
+    "Set the toycar with rounded body to the left of the small packet of playingcards",
+    "Pick the compact toycar with rotating wheels and set it left of the small packet of playingcards.",
+    "Place the toycar with rounded body to the left of the rectangular playingcards case with patterns using the left arm",
+    "Position the toycar with rounded body on the left of the rectangular playingcards pack",
+    "Use the left arm to put the gray base toycar left of the rectangular playingcards case with patterns.",
+    "Use the left arm to place the gray base toycar left of the rectangular playingcards pack.",
+    "Grab the gray base toycar and place left of the small packet of playingcards",
+    "Set the toycar with rounded body down to the left of the rectangular playingcards case with patterns",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards pack",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards pack.",
+    "Set the gray base toycar to the left of the rectangular playingcards case with patterns",
+    "Pick the compact toycar with rotating wheels and set it left of the small packet of playingcards.",
+    "Place the compact toycar with rotating wheels to the left of the small packet of playingcards using the left arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular playingcards case with patterns",
+    "Use the left arm to put the compact toycar with rotating wheels left of the rectangular playingcards case with patterns.",
+    "Use the left arm to place the gray base toycar left of the small packet of playingcards.",
+    "Grab the compact toycar with rotating wheels and place left of the rectangular playingcards pack",
+    "Set the compact toycar with rotating wheels down to the left of the small packet of playingcards",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards pack",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards pack.",
+    "Set the gray base toycar to the left of the rectangular playingcards pack",
+    "Pick the toycar with rounded body and set it left of the small packet of playingcards.",
+    "Place the gray base toycar to the left of the rectangular playingcards pack using the left arm",
+    "Position the toycar with rounded body on the left of the rectangular playingcards case with patterns",
+    "Use the left arm to put the toycar with rounded body left of the rectangular playingcards case with patterns.",
+    "Use the left arm to place the gray base toycar left of the rectangular playingcards case with patterns.",
+    "Grab the toycar with rounded body and place left of the rectangular playingcards pack",
+    "Set the compact toycar with rotating wheels down to the left of the small packet of playingcards",
+    "Set the compact toycar with rotating wheels on the left side of the rectangular playingcards case with patterns",
+    "Set the gray base toycar on the left side of the rectangular playingcards pack.",
+    "Set the toycar with rounded body to the left of the rectangular playingcards case with patterns",
+    "Pick the gray base toycar and set it left of the small packet of playingcards.",
+    "Place the gray base toycar to the left of the rectangular playingcards case with patterns using the left arm",
+    "Position the compact toycar with rotating wheels on the left of the rectangular playingcards case with patterns",
+    "Use the left arm to put the gray base toycar left of the rectangular playingcards pack.",
+    "Use the left arm to place the compact toycar with rotating wheels left of the small packet of playingcards.",
+    "Grab the toycar with rounded body and place left of the rectangular playingcards pack",
+    "Set the gray base toycar down to the left of the rectangular playingcards case with patterns",
+    "Set the toycar with rounded body on the left side of the rectangular playingcards pack",
+    "Set the toycar with rounded body on the left side of the small packet of playingcards.",
+    "Set the compact toycar with rotating wheels to the left of the rectangular playingcards case with patterns",
+    "Pick the toycar with rounded body and set it left of the rectangular playingcards case with patterns.",
+    "Place the gray base toycar to the left of the rectangular playingcards case with patterns using the left arm",
+    "Position the gray base toycar on the left of the rectangular playingcards pack",
+    "Use the left arm to put the compact toycar with rotating wheels left of the rectangular playingcards pack."
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/instructions/episode9.json b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..12ccc1c2f65d9df31619b526f4fa654ac85eeac4
--- /dev/null
+++ b/place_a2b_left/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the palm-sized box for playing cards leftward to the side of the miniature pink car with black wheels",
+    "Using the right arm, move the black box with rectangular shape left of the small toycar for kids play.",
+    "Place the compact box for playing cards left of the toycar made from smooth plastic using the right arm",
+    "Drop the playing cards box with gold text on the left side of the miniature pink car with black wheels",
+    "Position the smooth black cards container to the left of the small toycar for kids play.",
+    "With the right arm, position the box holding playing cards left of the pink toycar with rounded corners",
+    "Place the box holding playing cards carefully to the small pink plastic toycar's left",
+    "Set the box with cards inside carefully on the left of the small pink car with smooth texture",
+    "Grab the smooth black cards container with the right arm and set left of the miniature pink car with black wheels",
+    "Grab the rectangular box for card storage using the right arm and move left of the pink toycar shaped like real car",
+    "Place the palm-sized box for playing cards left of the toycar made from smooth plastic using the right arm",
+    "Place the rectangle-shaped cards box directly to the left of the toycar with rounded compact shape.",
+    "Place the rectangle-shaped cards box exactly to the left of the pink toycar with rounded corners",
+    "With the right arm, place the compact box for playing cards left of the pink toycar shaped like real car",
+    "With the right arm, set the cardboard playing cards box on the left of the small pink plastic toycar.",
+    "Use the right arm to move the rectangular box for card storage to the left of the toycar with rounded compact shape.",
+    "Put the small black box with cards to the left of the pink toycar shaped like real car",
+    "Place the palm-sized box for playing cards to rest left of the miniature pink car with black wheels using the right arm",
+    "Carefully position the box with cards inside to the left of the toycar with rounded compact shape.",
+    "Grab the playing cards box with gold text using the right arm and place it left of the miniature pink car with black wheels.",
+    "Put the rectangle-shaped cards box on the left side of the pink toycar with rounded corners",
+    "Using the right arm, place the playing cards box with gold text on the left of the pink toycar shaped like real car",
+    "Use the right arm to set the rectangular box for card storage left of the pink toycar shaped like real car",
+    "Stick the rectangle-shaped cards box on the left of the small pink car with smooth texture",
+    "Use the right arm to position the rectangle-shaped cards box left of the hand-sized toycar with white roof bars",
+    "Grab the black playing cards box with the right arm and shift it left of the small toycar for kids play.",
+    "Use the right arm to move the rectangular box for card storage to the hand-sized toycar with white roof bars's left",
+    "Shift the rectangular box for card storage and position it left of the small pink car with smooth texture.",
+    "Use the right arm and place the compact box for playing cards left of the toycar made from smooth plastic.",
+    "Move the small black box with cards to the left of the miniature pink car with black wheels",
+    "Use the right arm, move the compact box for playing cards left of the pink car with purple windows",
+    "Position the box holding playing cards carefully to the left of the small pink car with smooth texture.",
+    "Set the box holding playing cards left of the toycar with rounded compact shape.",
+    "Move the box with cards inside to the left of the miniature pink car with black wheels.",
+    "Grab the smooth black cards container using the right arm and place left of the toycar with rounded compact shape.",
+    "With the right arm, position the black playing cards box left of the pink car with purple windows.",
+    "With the right arm, move the box holding playing cards to the left side of the small pink car with smooth texture.",
+    "Adjust the playing cards box with gold text to rest on the toycar with purple tinted windows's left",
+    "Set the palm-sized box for playing cards directly to the left of the small pink plastic toycar",
+    "Drop the playing cards box with gold text to the left of the pink toycar",
+    "Using the right arm, set the black box with rectangular shape to the left of the small toycar for kids play.",
+    "Position the black playing cards box to the left of the small pink plastic toycar",
+    "Set the box holding playing cards on the left side of the miniature pink car with black wheels.",
+    "Move the compact box for playing cards to the left side of the small toycar for kids play",
+    "With the right arm, stick the palm-sized box for playing cards left of the small pink plastic toycar",
+    "Use the right arm to put the box holding playing cards left of the small toycar for kids play",
+    "Set the palm-sized box for playing cards to the left of the hand-sized toycar with white roof bars",
+    "Using the right arm, put the rectangle-shaped cards box on left of the pink toycar with rounded corners",
+    "Place the playing cards box with gold text on the left of the miniature pink car with black wheels.",
+    "Move the rectangle-shaped cards box to the left of the pink toycar with rounded corners.",
+    "Shift the black box with rectangular shape leftward to the side of the toycar made from smooth plastic",
+    "Using the right arm, move the playing cards box with gold text left of the pink toycar.",
+    "Place the cardboard playing cards box left of the small toycar for kids play using the right arm",
+    "Drop the small black box with cards on the left side of the small toycar for kids play",
+    "Position the palm-sized box for playing cards to the left of the pink toycar with rounded corners.",
+    "With the right arm, position the rectangle-shaped cards box left of the hand-sized toycar with white roof bars",
+    "Place the playing cards box with gold text carefully to the toycar with rounded compact shape's left",
+    "Set the palm-sized box for playing cards carefully on the left of the small pink car with smooth texture",
+    "Grab the smooth black cards container with the right arm and set left of the toycar with rounded compact shape",
+    "Grab the playing cards box with gold text using the right arm and move left of the miniature pink car with black wheels",
+    "Place the rectangle-shaped cards box left of the miniature pink car with black wheels using the right arm",
+    "Place the smooth black cards container directly to the left of the pink toycar shaped like real car.",
+    "Place the smooth black cards container exactly to the left of the miniature pink car with black wheels",
+    "With the right arm, place the compact box for playing cards left of the pink toycar",
+    "With the right arm, set the compact box for playing cards on the left of the small pink car with smooth texture.",
+    "Use the right arm to move the black playing cards box to the left of the pink toycar shaped like real car.",
+    "Put the palm-sized box for playing cards to the left of the small pink plastic toycar",
+    "Place the playing cards box with gold text to rest left of the hand-sized toycar with white roof bars using the right arm",
+    "Carefully position the box with cards inside to the left of the hand-sized toycar with white roof bars.",
+    "Grab the playing cards box with gold text using the right arm and place it left of the small pink car with smooth texture.",
+    "Put the rectangle-shaped cards box on the left side of the miniature pink car with black wheels",
+    "Using the right arm, place the compact box for playing cards on the left of the toycar made from smooth plastic",
+    "Use the right arm to set the box holding playing cards left of the pink toycar",
+    "Stick the box with cards inside on the left of the miniature pink car with black wheels",
+    "Use the right arm to position the cardboard playing cards box left of the small toycar for kids play",
+    "Grab the compact box for playing cards with the right arm and shift it left of the miniature pink car with black wheels.",
+    "Use the right arm to move the black box with rectangular shape to the toycar with purple tinted windows's left",
+    "Shift the rectangular box for card storage and position it left of the pink toycar with rounded corners.",
+    "Use the right arm and place the smooth black cards container left of the small pink car with smooth texture.",
+    "Move the rectangular box for card storage to the left of the small pink plastic toycar",
+    "Use the right arm, move the box with cards inside left of the miniature pink car with black wheels",
+    "Position the box with cards inside carefully to the left of the pink toycar shaped like real car.",
+    "Set the compact box for playing cards left of the small pink plastic toycar.",
+    "Move the smooth black cards container to the left of the hand-sized toycar with white roof bars.",
+    "Grab the compact box for playing cards using the right arm and place left of the small pink car with smooth texture.",
+    "With the right arm, position the playing cards box with gold text left of the small toycar for kids play.",
+    "With the right arm, move the playing cards box with gold text to the left side of the miniature pink car with black wheels.",
+    "Adjust the playing cards box with gold text to rest on the small pink plastic toycar's left",
+    "Set the rectangle-shaped cards box directly to the left of the small toycar for kids play",
+    "Drop the playing cards box with gold text to the left of the small toycar for kids play",
+    "Using the right arm, set the playing cards box with gold text to the left of the small pink car with smooth texture.",
+    "Position the box holding playing cards to the left of the pink toycar",
+    "Set the rectangular box for card storage on the left side of the pink toycar with rounded corners.",
+    "Move the cardboard playing cards box to the left side of the pink toycar",
+    "With the right arm, stick the playing cards box with gold text left of the pink toycar with rounded corners",
+    "Use the right arm to put the box with cards inside left of the pink toycar shaped like real car",
+    "Set the rectangular box for card storage to the left of the miniature pink car with black wheels",
+    "Using the right arm, put the box with cards inside on left of the toycar with rounded compact shape",
+    "Place the playing cards box with gold text on the left of the pink toycar.",
+    "Move the rectangular box for card storage to the left of the pink toycar shaped like real car."
+  ],
+  "unseen": [
+    "Set the hard black box for card deck to the left of the compact toycar with shiny black tires",
+    "Position the hard black box for card deck on the left of the tiny pink car with four wheels",
+    "Place the black box with smooth surface to the left of the tiny pink car with four wheels using the right arm",
+    "Use the right arm to put the black box with smooth surface left of the compact toycar with shiny black tires.",
+    "Set the hard black box for card deck down to the left of the tiny pink car with four wheels",
+    "Grab the hard black box for card deck and place left of the pink toycar with white bumper",
+    "Set the hard black box for card deck on the left side of the pink toycar with white bumper",
+    "Pick the hard black box for card deck and set it left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface on the left side of the tiny pink car with four wheels.",
+    "Use the right arm to place the gold text on playing cards box left of the compact toycar with shiny black tires.",
+    "Set the gold text on playing cards box to the left of the compact toycar with shiny black tires",
+    "Position the hard black box for card deck on the left of the compact toycar with shiny black tires",
+    "Place the gold text on playing cards box to the left of the tiny pink car with four wheels using the right arm",
+    "Use the right arm to put the gold text on playing cards box left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface down to the left of the compact toycar with shiny black tires",
+    "Grab the black box with smooth surface and place left of the tiny pink car with four wheels",
+    "Set the black box with smooth surface on the left side of the tiny pink car with four wheels",
+    "Pick the black box with smooth surface and set it left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface on the left side of the compact toycar with shiny black tires.",
+    "Use the right arm to place the hard black box for card deck left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface to the left of the compact toycar with shiny black tires",
+    "Position the hard black box for card deck on the left of the pink toycar with white bumper",
+    "Place the black box with smooth surface to the left of the tiny pink car with four wheels using the right arm",
+    "Use the right arm to put the black box with smooth surface left of the pink toycar with white bumper.",
+    "Set the black box with smooth surface down to the left of the tiny pink car with four wheels",
+    "Grab the hard black box for card deck and place left of the pink toycar with white bumper",
+    "Set the black box with smooth surface on the left side of the pink toycar with white bumper",
+    "Pick the gold text on playing cards box and set it left of the compact toycar with shiny black tires.",
+    "Set the black box with smooth surface on the left side of the pink toycar with white bumper.",
+    "Use the right arm to place the gold text on playing cards box left of the tiny pink car with four wheels.",
+    "Set the hard black box for card deck to the left of the pink toycar with white bumper",
+    "Position the gold text on playing cards box on the left of the compact toycar with shiny black tires",
+    "Place the hard black box for card deck to the left of the pink toycar with white bumper using the right arm",
+    "Use the right arm to put the black box with smooth surface left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface down to the left of the compact toycar with shiny black tires",
+    "Grab the hard black box for card deck and place left of the tiny pink car with four wheels",
+    "Set the black box with smooth surface on the left side of the pink toycar with white bumper",
+    "Pick the black box with smooth surface and set it left of the tiny pink car with four wheels.",
+    "Set the gold text on playing cards box on the left side of the pink toycar with white bumper.",
+    "Use the right arm to place the hard black box for card deck left of the compact toycar with shiny black tires.",
+    "Set the hard black box for card deck to the left of the compact toycar with shiny black tires",
+    "Position the black box with smooth surface on the left of the compact toycar with shiny black tires",
+    "Place the gold text on playing cards box to the left of the pink toycar with white bumper using the right arm",
+    "Use the right arm to put the gold text on playing cards box left of the compact toycar with shiny black tires.",
+    "Set the gold text on playing cards box down to the left of the pink toycar with white bumper",
+    "Grab the black box with smooth surface and place left of the compact toycar with shiny black tires",
+    "Set the hard black box for card deck on the left side of the compact toycar with shiny black tires",
+    "Pick the hard black box for card deck and set it left of the pink toycar with white bumper.",
+    "Set the gold text on playing cards box on the left side of the pink toycar with white bumper.",
+    "Use the right arm to place the black box with smooth surface left of the pink toycar with white bumper.",
+    "Set the black box with smooth surface to the left of the pink toycar with white bumper",
+    "Position the gold text on playing cards box on the left of the pink toycar with white bumper",
+    "Place the gold text on playing cards box to the left of the compact toycar with shiny black tires using the right arm",
+    "Use the right arm to put the gold text on playing cards box left of the tiny pink car with four wheels.",
+    "Set the gold text on playing cards box down to the left of the tiny pink car with four wheels",
+    "Grab the hard black box for card deck and place left of the compact toycar with shiny black tires",
+    "Set the gold text on playing cards box on the left side of the pink toycar with white bumper",
+    "Pick the hard black box for card deck and set it left of the pink toycar with white bumper.",
+    "Set the black box with smooth surface on the left side of the tiny pink car with four wheels.",
+    "Use the right arm to place the hard black box for card deck left of the tiny pink car with four wheels.",
+    "Set the gold text on playing cards box to the left of the tiny pink car with four wheels",
+    "Position the black box with smooth surface on the left of the compact toycar with shiny black tires",
+    "Place the black box with smooth surface to the left of the compact toycar with shiny black tires using the right arm",
+    "Use the right arm to put the gold text on playing cards box left of the compact toycar with shiny black tires.",
+    "Set the hard black box for card deck down to the left of the tiny pink car with four wheels",
+    "Grab the hard black box for card deck and place left of the compact toycar with shiny black tires",
+    "Set the gold text on playing cards box on the left side of the tiny pink car with four wheels",
+    "Pick the hard black box for card deck and set it left of the pink toycar with white bumper.",
+    "Set the gold text on playing cards box on the left side of the compact toycar with shiny black tires.",
+    "Use the right arm to place the gold text on playing cards box left of the pink toycar with white bumper.",
+    "Set the gold text on playing cards box to the left of the pink toycar with white bumper",
+    "Position the black box with smooth surface on the left of the compact toycar with shiny black tires",
+    "Place the hard black box for card deck to the left of the pink toycar with white bumper using the right arm",
+    "Use the right arm to put the black box with smooth surface left of the tiny pink car with four wheels.",
+    "Set the hard black box for card deck down to the left of the compact toycar with shiny black tires",
+    "Grab the black box with smooth surface and place left of the compact toycar with shiny black tires",
+    "Set the hard black box for card deck on the left side of the compact toycar with shiny black tires",
+    "Pick the gold text on playing cards box and set it left of the tiny pink car with four wheels.",
+    "Set the gold text on playing cards box on the left side of the tiny pink car with four wheels.",
+    "Use the right arm to place the hard black box for card deck left of the pink toycar with white bumper.",
+    "Set the black box with smooth surface to the left of the tiny pink car with four wheels",
+    "Position the black box with smooth surface on the left of the compact toycar with shiny black tires",
+    "Place the gold text on playing cards box to the left of the pink toycar with white bumper using the right arm",
+    "Use the right arm to put the hard black box for card deck left of the tiny pink car with four wheels.",
+    "Set the hard black box for card deck down to the left of the tiny pink car with four wheels",
+    "Grab the gold text on playing cards box and place left of the tiny pink car with four wheels",
+    "Set the hard black box for card deck on the left side of the tiny pink car with four wheels",
+    "Pick the black box with smooth surface and set it left of the tiny pink car with four wheels.",
+    "Set the black box with smooth surface on the left side of the compact toycar with shiny black tires.",
+    "Use the right arm to place the black box with smooth surface left of the pink toycar with white bumper.",
+    "Set the hard black box for card deck to the left of the tiny pink car with four wheels",
+    "Position the black box with smooth surface on the left of the tiny pink car with four wheels",
+    "Place the hard black box for card deck to the left of the tiny pink car with four wheels using the right arm",
+    "Use the right arm to put the gold text on playing cards box left of the pink toycar with white bumper.",
+    "Set the gold text on playing cards box down to the left of the tiny pink car with four wheels",
+    "Grab the hard black box for card deck and place left of the pink toycar with white bumper",
+    "Set the gold text on playing cards box on the left side of the compact toycar with shiny black tires",
+    "Pick the black box with smooth surface and set it left of the tiny pink car with four wheels.",
+    "Set the gold text on playing cards box on the left side of the pink toycar with white bumper.",
+    "Use the right arm to place the gold text on playing cards box left of the pink toycar with white bumper."
+  ]
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/scene_info.json b/place_a2b_left/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b5e16b7572eb3fa3160208d154e5c61b90f6af
--- /dev/null
+++ b/place_a2b_left/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}": "057_toycar/base5",
+            "{B}": "077_phone/base3",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base1",
+            "{B}": "107_soap/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "077_phone/base0",
+            "{B}": "075_bread/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base1",
+            "{B}": "081_playingcards/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "075_bread/base1",
+            "{B}": "113_coffee-box/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "050_bell/base0",
+            "{B}": "048_stapler/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "075_bread/base3",
+            "{B}": "086_woodenblock/base3",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base1",
+            "{B}": "077_phone/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base1",
+            "{B}": "081_playingcards/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base2",
+            "{B}": "057_toycar/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "047_mouse/base1",
+            "{B}": "107_soap/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "048_stapler/base1",
+            "{B}": "086_woodenblock/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base4",
+            "{B}": "107_soap/base2",
+            "{a}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "073_rubikscube/base2",
+            "{B}": "057_toycar/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "047_mouse/base0",
+            "{B}": "077_phone/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "075_bread/base0",
+            "{B}": "057_toycar/base5",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "112_tea-box/base4",
+            "{B}": "047_mouse/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "113_coffee-box/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base2",
+            "{B}": "107_soap/base3",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "112_tea-box/base5",
+            "{B}": "107_soap/base1",
+            "{a}": "right"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_a2b_left/demo_clean_ep20_vidar/seed.txt b/place_a2b_left/demo_clean_ep20_vidar/seed.txt
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
+3 5 6 7 8 9 11 12 13 14 15 17 18 19 20 21 22 23 24 25 
\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edab50002a051a9e6f4c5fcc4e51a30463d88a1356826084e89c98e74b6af39c
+size 919204
diff --git a/put_bottles_dustbin/demo_clean_ep20_vidar/video/episode9.mp4 b/put_bottles_dustbin/demo_clean_ep20_vidar/video/episode9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2238e81805a6965f770bfe67617917ba2f2dedc0
--- /dev/null
+++ b/put_bottles_dustbin/demo_clean_ep20_vidar/video/episode9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f08f62c5948a4aa966a2bb94b9c28bed83433d283d8af154c9c9c6aeb4ebff
+size 658672
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode0.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0457cfb6f93aafe8320de79db50bf6e4332ca72
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the yellow bottle using the right arm after grabbing.",
+    "Grab the yellow bottle for liquid storage and shake it steadily.",
+    "Use the right arm to grab the bottle for liquid and shake properly.",
+    "Lift up the yellow bottle with dark label using the right arm, then shake.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Grasp the yellow bottle with dark label with the right arm and shake it.",
+    "Shake the plastic bottle with curved sides thoroughly after grabbing it.",
+    "Grab the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the handheld curvy bottle carefully and shake.",
+    "Shake the yellow bottle after grabbing it.",
+    "Hold the plastic bottle with curved sides with the right arm and shake lightly.",
+    "Shake the the yellow bottle for liquid storage properly after lifting.",
+    "Use the right arm to hold the medium-sized bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "With the right arm, pick the bottle for liquid and shake properly.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Lift the bottle for liquid with the right arm and give it a shake.",
+    "Pick up the medium plastic bottle with cap and shake it well.",
+    "Lift the medium-sized bottle with the right arm and shake.",
+    "Lift the yellow bottle with blue label and shake it thoroughly.",
+    "Utilize the right arm to hold the bottle for liquid and shake it.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Shake the bottle with screw cap after grabbing it.",
+    "Hold the bottle with screw cap, shake it briefly.",
+    "Use the right arm to lift and shake the yellow bottle with dark label.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab and shake the medium plastic bottle with cap using the right arm.",
+    "Shake the yellow bottle with blue label after lifting it.",
+    "Pick the bottle with screw cap up using the right arm and shake it.",
+    "Shake the yellow bottle with blue label firmly after grabbing.",
+    "Use the right arm to grab the handheld curvy bottle and shake it.",
+    "Hold and shake the the yellow bottle for liquid storage carefully.",
+    "Take the bottle for liquid using the right arm and give it a shake.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Using the right arm, shake the yellow bottle and then place it back.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Grab the yellow bottle with dark label firmly, shake it, and put it down.",
+    "Secure the yellow bottle for liquid storage and perform a shake.",
+    "Lift the medium-sized bottle with the right arm and shake it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Shake the plastic bottle with curved sides after holding it firmly.",
+    "Hold the yellow bottle and shake it properly.",
+    "Catch the medium-sized bottle and shake it instantly.",
+    "Grab the medium-sized bottle using the right arm, then shake.",
+    "Pick the yellow bottle with blue label up with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick the yellow bottle with dark label and perform shaking motion.",
+    "Secure the bottle for liquid, shake it, and place it down.",
+    "Use the right arm to lift and shake the yellow bottle with dark label.",
+    "Shake the medium plastic bottle with cap using the right arm after grabbing.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Lift up the handheld curvy bottle using the right arm, then shake.",
+    "Use the right arm to pick and shake the medium plastic bottle with cap.",
+    "Grasp the plastic bottle with curved sides with the right arm and shake it.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Grab the medium-sized bottle with the right arm and shake.",
+    "Grab the plastic bottle with curved sides carefully and shake.",
+    "Shake the yellow bottle with blue label after grabbing it.",
+    "Hold the handheld curvy bottle with the right arm and shake lightly.",
+    "Shake the the yellow bottle with dark label properly after lifting.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Grab the handheld curvy bottle and give it a shake.",
+    "With the right arm, pick the smooth plastic bottle and shake properly.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Lift the plastic bottle with curved sides with the right arm and give it a shake.",
+    "Pick up the bottle with screw cap and shake it well.",
+    "Lift the smooth plastic bottle with the right arm and shake.",
+    "Lift the yellow bottle for liquid storage and shake it thoroughly.",
+    "Utilize the right arm to hold the yellow bottle with dark label and shake it.",
+    "Lift the yellow bottle with dark label and shake it gently.",
+    "Shake the plastic bottle with curved sides after grabbing it.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Use the right arm to lift and shake the yellow bottle with blue label.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the yellow bottle after grabbing it.",
+    "Grab and shake the yellow bottle with blue label using the right arm.",
+    "Shake the yellow bottle for liquid storage after lifting it.",
+    "Pick the medium plastic bottle with cap up using the right arm and shake it.",
+    "Shake the yellow bottle with blue label firmly after grabbing.",
+    "Use the right arm to grab the handheld curvy bottle and shake it.",
+    "Hold and shake the the medium plastic bottle with cap carefully.",
+    "Take the plastic bottle with curved sides using the right arm and give it a shake.",
+    "Hold the bottle with screw cap steady, then shake it.",
+    "Using the right arm, shake the yellow bottle and then place it back.",
+    "Pick the yellow bottle, shake it with the right arm.",
+    "Grab the bottle with screw cap firmly, shake it, and put it down.",
+    "Secure the yellow bottle with blue label and perform a shake.",
+    "Lift the medium plastic bottle with cap with the right arm and shake it.",
+    "Grab the handheld curvy bottle and move it to shake.",
+    "Shake the medium plastic bottle with cap after holding it firmly.",
+    "Hold the plastic bottle with curved sides and shake it properly.",
+    "Catch the medium plastic bottle with cap and shake it instantly.",
+    "Grab the yellow bottle with dark label using the right arm, then shake.",
+    "Pick the yellow bottle up with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Secure the bottle with screw cap, shake it, and place it down.",
+    "Use the right arm to lift and shake the medium plastic bottle with cap."
+  ],
+  "unseen": [
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Pick and shake the the yellow bottle with white cap with the right arm.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Use the right arm to pick the curvy yellow plastic bottle.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the yellow bottle with white cap with the right arm and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the yellow bottle with white cap with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the yellow bottle with white cap with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode1.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83a88ca3ca9f6db4796f01bdb9f68be817822f0
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with dark brown color, shake it, and place it down.",
+    "Secure the plastic bottle for liquids and perform a shake.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Use the right arm to hold the rounded bottle with printed details and shake it.",
+    "Shake the plastic bottle for liquids using the right arm after grabbing.",
+    "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.",
+    "Lift up the medium bottle with smooth texture using the right arm, then shake.",
+    "Hold the medium plastic bottle and shake it properly.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Pick the plastic bottle for liquids up using the right arm and shake it.",
+    "Hold and shake the the medium plastic bottle carefully.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Use the right arm to grab the bottle with dark brown color and shake it.",
+    "Pick the bottle with dark brown color, shake it with the right arm.",
+    "Shake the medium bottle with smooth texture firmly after grabbing.",
+    "Shake the the medium plastic bottle properly after lifting.",
+    "Grab the bottle with brown body and white top with the right arm and shake.",
+    "Hold the medium bottle with smooth texture, shake it briefly.",
+    "Lift the plastic bottle for liquids with the right arm and shake it.",
+    "Grab the rounded bottle with printed details using the right arm, then shake.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "With the right arm, pick the plastic bottle with printed label and shake properly.",
+    "Grip the bottle with brown body and white top using the right arm and shake.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Grab and shake the plastic bottle for liquids using the right arm.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Shake the medium bottle with smooth texture after grabbing it.",
+    "Hold the handheld brown bottle with white lid steady, then shake it.",
+    "Hold the smooth brown bottle with the right arm and shake lightly.",
+    "Shake the plastic bottle with printed label after lifting it.",
+    "Grab the bottle with dark brown color and shake it steadily.",
+    "Pick the bottle with dark brown color up with the right arm and shake.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Pick up the bottle with dark brown color and shake it well.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and shake.",
+    "Pick up the bottle with brown body and white top and shake it.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Use the right arm to grab the bottle with dark brown color and shake properly.",
+    "Lift the cylindrical bottle with narrow neck and shake it thoroughly.",
+    "Catch the medium bottle with smooth texture and shake it instantly.",
+    "Utilize the right arm to hold the bottle with dark brown color and shake it.",
+    "Lift the bottle with brown body and white top with the right arm and give it a shake.",
+    "Grab the cylindrical bottle with narrow neck and move it to shake.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Using the right arm, shake the medium bottle with smooth texture and then place it back.",
+    "Take the medium bottle with smooth texture using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the rounded bottle with printed details.",
+    "Grasp the plastic bottle with printed label with the right arm and shake it.",
+    "Secure the bottle with brown body and white top, shake it, and place it down.",
+    "Secure the smooth brown bottle and perform a shake.",
+    "Pick the white-capped brown cylindrical bottle and perform shaking motion.",
+    "Use the right arm to hold the bottle with brown body and white top and shake it.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Grab the plastic bottle for liquids firmly, shake it, and put it down.",
+    "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.",
+    "Hold the plastic bottle with printed label and shake it properly.",
+    "Shake the bottle with brown body and white top after holding it firmly.",
+    "Grab the bottle with brown body and white top carefully and shake.",
+    "Pick the rounded bottle with printed details up using the right arm and shake it.",
+    "Hold and shake the the rounded bottle with printed details carefully.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Use the right arm to grab the plastic bottle for liquids and shake it.",
+    "Pick the bottle with white cap, shake it with the right arm.",
+    "Shake the bottle with dark brown color firmly after grabbing.",
+    "Shake the the smooth brown bottle properly after lifting.",
+    "Grab the plastic bottle with printed label with the right arm and shake.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "Lift the smooth brown bottle with the right arm and shake it.",
+    "Grab the white-capped brown cylindrical bottle using the right arm, then shake.",
+    "Grab the white-capped brown cylindrical bottle and give it a shake.",
+    "With the right arm, pick the bottle with dark brown color and shake properly.",
+    "Grip the plastic bottle with printed label using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Grab and shake the handheld brown bottle with white lid using the right arm.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Hold the handheld brown bottle with white lid steady, then shake it.",
+    "Hold the bottle with white cap with the right arm and shake lightly.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Grab the plastic bottle for liquids and shake it steadily.",
+    "Pick the plastic bottle for liquids up with the right arm and shake.",
+    "Lift the white-capped brown cylindrical bottle and shake it gently.",
+    "Pick up the bottle with dark brown color and shake it well.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Pick up the white-capped brown cylindrical bottle and shake it.",
+    "Shake the handheld brown bottle with white lid thoroughly after grabbing it.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake properly.",
+    "Lift the plastic bottle for liquids and shake it thoroughly.",
+    "Catch the handheld brown bottle with white lid and shake it instantly.",
+    "Utilize the right arm to hold the white-capped brown cylindrical bottle and shake it.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Grab the plastic bottle for liquids and move it to shake.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Using the right arm, shake the plastic bottle for liquids and then place it back.",
+    "Take the plastic bottle for liquids using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Grasp the bottle with dark brown color with the right arm and shake it."
+  ],
+  "unseen": [
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode10.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4e42b175b7ec3e46e1e204c7aee72eead575e9
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow-capped cylindrical bottle up using the right arm and shake it.",
+    "Pick the plastic bottle with colorful label up with the right arm and shake.",
+    "Pick up the smooth black bottle with ridges and shake it well.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Grab the plastic bottle with colorful label carefully and shake.",
+    "Grab the drink bottle with rounded yellow lid and shake it steadily.",
+    "Use the right arm to hold the plastic bottle with colorful label and shake it.",
+    "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.",
+    "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Lift the bottle with blue and yellow print with the right arm and shake.",
+    "Grab and shake the bottle with blue and yellow print using the right arm.",
+    "Shake the black cylindrical bottle with ridges after lifting it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Use the right arm to grab the beverage bottle with black body and shake it.",
+    "Lift the beverage bottle with black body and shake it gently.",
+    "Secure the medium black bottle with printed label, shake it, and place it down.",
+    "Pick the medium bottle with yellow cap, shake it with the right arm.",
+    "Shake the the beverage bottle with black body properly after lifting.",
+    "Pick up the yellow-capped cylindrical bottle and shake it.",
+    "Catch the beverage bottle with black body and shake it instantly.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Grab the black plastic bottle with Pepsi logo with the right arm and shake.",
+    "Using the right arm, shake the black cylindrical bottle with ridges and then place it back.",
+    "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.",
+    "Hold the drink bottle with rounded yellow lid, shake it briefly.",
+    "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the bottle with blue and yellow print.",
+    "Grab the black cylindrical bottle with ridges using the right arm, then shake.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Hold the medium bottle with yellow cap steady, then shake it.",
+    "Shake the black plastic bottle with Pepsi logo firmly after grabbing.",
+    "Lift the black bottle with the right arm and shake it.",
+    "Hold the bottle with blue and yellow print and shake it properly.",
+    "Secure the drink bottle with rounded yellow lid and perform a shake.",
+    "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Grip the drink bottle with rounded yellow lid using the right arm and shake.",
+    "Grab the plastic bottle with colorful label and move it to shake.",
+    "Use the right arm to grab the yellow capped drink bottle and shake properly.",
+    "Shake the drink bottle with rounded yellow lid after holding it firmly.",
+    "Hold and shake the the plastic bottle with colorful label carefully.",
+    "Lift up the black bottle using the right arm, then shake.",
+    "Shake the black cylindrical bottle with ridges using the right arm after grabbing.",
+    "Lift the medium bottle with yellow cap and shake it thoroughly.",
+    "Utilize the right arm to hold the smooth black bottle with ridges and shake it.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Grasp the beverage bottle with black body with the right arm and shake it.",
+    "Grab the black cylindrical bottle with ridges and give it a shake.",
+    "Hold the yellow capped drink bottle with the right arm and shake lightly.",
+    "Pick the beverage bottle with black body up using the right arm and shake it.",
+    "Pick the smooth black bottle with ridges up with the right arm and shake.",
+    "Pick up the black bottle and shake it well.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Grab the drink bottle with rounded yellow lid carefully and shake.",
+    "Grab the yellow-capped cylindrical bottle and shake it steadily.",
+    "Use the right arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Lift the medium bottle with yellow cap with the right arm and give it a shake.",
+    "Grab the plastic bottle with colorful label firmly, shake it, and put it down.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake.",
+    "Grab and shake the bottle with blue and yellow print using the right arm.",
+    "Shake the smooth black bottle with ridges after lifting it.",
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake it.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Secure the black cylindrical bottle with ridges, shake it, and place it down.",
+    "Pick the black cylindrical bottle with ridges, shake it with the right arm.",
+    "Shake the the black cylindrical bottle with ridges properly after lifting.",
+    "Pick up the medium bottle with yellow cap and shake it.",
+    "Catch the smooth black bottle with ridges and shake it instantly.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Grab the bottle with blue and yellow print with the right arm and shake.",
+    "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.",
+    "Take the yellow capped drink bottle using the right arm and give it a shake.",
+    "Hold the drink bottle with rounded yellow lid, shake it briefly.",
+    "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the plastic bottle with colorful label.",
+    "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.",
+    "Pick the black cylindrical bottle with ridges and perform shaking motion.",
+    "Hold the black plastic bottle with Pepsi logo steady, then shake it.",
+    "Shake the plastic bottle with colorful label firmly after grabbing.",
+    "Lift the medium black bottle with printed label with the right arm and shake it.",
+    "Hold the black plastic bottle with Pepsi logo and shake it properly.",
+    "Secure the yellow-capped cylindrical bottle and perform a shake.",
+    "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Grip the drink bottle with rounded yellow lid using the right arm and shake.",
+    "Grab the yellow capped drink bottle and move it to shake.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and shake properly.",
+    "Shake the yellow capped drink bottle after holding it firmly.",
+    "Hold and shake the the smooth black bottle with ridges carefully.",
+    "Lift up the medium bottle with yellow cap using the right arm, then shake.",
+    "Shake the yellow capped drink bottle using the right arm after grabbing.",
+    "Lift the yellow capped drink bottle and shake it thoroughly.",
+    "Utilize the right arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Use the right arm to lift and shake the black bottle.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Grasp the yellow capped drink bottle with the right arm and shake it.",
+    "Grab the bottle with blue and yellow print and give it a shake.",
+    "Hold the beverage bottle with black body with the right arm and shake lightly."
+  ],
+  "unseen": [
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode11.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..4206b0bfc4e7068899162de6f0a80d7e43fd3ea4
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium bottle with yellow cap using the right arm after grabbing.",
+    "Hold the medium bottle with yellow cap and shake it properly.",
+    "Lift the medium black bottle with printed label with the right arm and give it a shake.",
+    "Take the black cylindrical bottle with ridges using the right arm and give it a shake.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Hold the smooth black bottle with ridges steady, then shake it.",
+    "Shake the black cylindrical bottle with ridges after holding it firmly.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Lift the black bottle and shake it gently.",
+    "With the right arm, pick the medium bottle with yellow cap and shake properly.",
+    "Utilize the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Grab the medium bottle with yellow cap carefully and shake.",
+    "Pick the beverage bottle with black body up using the right arm and shake it.",
+    "Shake the medium bottle with yellow cap firmly after grabbing.",
+    "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.",
+    "Pick the drink bottle with rounded yellow lid up with the right arm and shake.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Hold the yellow capped drink bottle, shake it briefly.",
+    "Shake the bottle with blue and yellow print after lifting it.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake it.",
+    "Hold the yellow capped drink bottle with the right arm and shake lightly.",
+    "Grab the beverage bottle with black body and give it a shake.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Use the right arm to grab the black bottle and shake properly.",
+    "Lift the plastic bottle with colorful label with the right arm and shake.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Hold and shake the the bottle with blue and yellow print carefully.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Use the right arm to pick and shake the medium black bottle with printed label.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Grab and shake the yellow capped drink bottle using the right arm.",
+    "Grab the black bottle and shake it steadily.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Shake the bottle with blue and yellow print thoroughly after grabbing it.",
+    "Lift the black bottle and shake it thoroughly.",
+    "Grab the medium black bottle with printed label firmly, shake it, and put it down.",
+    "Grasp the smooth black bottle with ridges with the right arm and shake it.",
+    "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.",
+    "Secure the black bottle, shake it, and place it down.",
+    "Grab the yellow-capped cylindrical bottle with the right arm and shake.",
+    "Pick the medium black bottle with printed label, shake it with the right arm.",
+    "Grip the medium bottle with yellow cap using the right arm and shake.",
+    "Use the right arm to hold the yellow capped drink bottle and shake it.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Pick up the black cylindrical bottle with ridges and shake it.",
+    "Pick the yellow-capped cylindrical bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Shake the black cylindrical bottle with ridges using the right arm after grabbing.",
+    "Hold the plastic bottle with colorful label and shake it properly.",
+    "Lift the yellow-capped cylindrical bottle with the right arm and give it a shake.",
+    "Take the bottle with blue and yellow print using the right arm and give it a shake.",
+    "Catch the black plastic bottle with Pepsi logo and shake it instantly.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Hold the black bottle steady, then shake it.",
+    "Shake the yellow-capped cylindrical bottle after holding it firmly.",
+    "Pick up the bottle with blue and yellow print and shake it well.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Lift the black cylindrical bottle with ridges and shake it gently.",
+    "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Utilize the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Grab the plastic bottle with colorful label carefully and shake.",
+    "Pick the black bottle up using the right arm and shake it.",
+    "Shake the black bottle firmly after grabbing.",
+    "Using the right arm, shake the bottle with blue and yellow print and then place it back.",
+    "Pick the medium black bottle with printed label up with the right arm and shake.",
+    "Lift up the yellow-capped cylindrical bottle using the right arm, then shake.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Hold the black cylindrical bottle with ridges, shake it briefly.",
+    "Shake the black cylindrical bottle with ridges after lifting it.",
+    "Use the right arm to grab the medium black bottle with printed label and shake it.",
+    "Hold the bottle with blue and yellow print with the right arm and shake lightly.",
+    "Grab the medium black bottle with printed label and give it a shake.",
+    "Secure the plastic bottle with colorful label and perform a shake.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake.",
+    "Lift the yellow capped drink bottle with the right arm and shake it.",
+    "Hold and shake the the drink bottle with rounded yellow lid carefully.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Use the right arm to pick and shake the smooth black bottle with ridges.",
+    "Grab the yellow-capped cylindrical bottle and move it to shake.",
+    "Grab and shake the plastic bottle with colorful label using the right arm.",
+    "Grab the black plastic bottle with Pepsi logo and shake it steadily.",
+    "Use the right arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Shake the bottle with blue and yellow print thoroughly after grabbing it.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "Grab the bottle with blue and yellow print using the right arm, then shake.",
+    "Secure the beverage bottle with black body, shake it, and place it down.",
+    "Grab the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Pick the yellow capped drink bottle, shake it with the right arm.",
+    "Grip the drink bottle with rounded yellow lid using the right arm and shake.",
+    "Use the right arm to hold the medium black bottle with printed label and shake it.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Pick up the beverage bottle with black body and shake it.",
+    "Pick the yellow capped drink bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the yellow capped drink bottle."
+  ],
+  "unseen": [
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode12.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b50e6857ba98c85ce13ca69d99961dbcf396ed
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and shake properly.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it.",
+    "Using the right arm, shake the plastic bottle with colorful label and then place it back.",
+    "Take the smooth black bottle with ridges using the right arm and give it a shake.",
+    "Grab the yellow-capped cylindrical bottle and give it a shake.",
+    "Grab the bottle with blue and yellow print and shake it steadily.",
+    "Hold and shake the the yellow-capped cylindrical bottle carefully.",
+    "Hold the yellow-capped cylindrical bottle and shake it properly.",
+    "Grab the bottle with blue and yellow print with the right arm and shake.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Shake the black cylindrical bottle with ridges firmly after grabbing.",
+    "Grasp the black bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Utilize the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Hold the yellow-capped cylindrical bottle steady, then shake it.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Pick the smooth black bottle with ridges and perform shaking motion.",
+    "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Lift the medium black bottle with printed label with the right arm and give it a shake.",
+    "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Pick up the drink bottle with rounded yellow lid and shake it well.",
+    "Hold the black cylindrical bottle with ridges, shake it briefly.",
+    "Use the right arm to hold the beverage bottle with black body and shake it.",
+    "Pick the medium bottle with yellow cap up with the right arm and shake.",
+    "Shake the plastic bottle with colorful label using the right arm after grabbing.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Shake the bottle with blue and yellow print thoroughly after grabbing it.",
+    "Shake the smooth black bottle with ridges after holding it firmly.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and shake it.",
+    "Lift the yellow-capped cylindrical bottle and shake it thoroughly.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake it.",
+    "Grab and shake the black plastic bottle with Pepsi logo using the right arm.",
+    "Secure the black bottle, shake it, and place it down.",
+    "Grab the yellow-capped cylindrical bottle and move it to shake.",
+    "With the right arm, pick the black cylindrical bottle with ridges and shake properly.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Secure the plastic bottle with colorful label and perform a shake.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Shake the the black bottle properly after lifting.",
+    "Grip the bottle with blue and yellow print using the right arm and shake.",
+    "Use the right arm to pick and shake the medium black bottle with printed label.",
+    "Grab the yellow capped drink bottle carefully and shake.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Pick the medium black bottle with printed label up using the right arm and shake it.",
+    "Grab the black bottle using the right arm, then shake.",
+    "Lift the plastic bottle with colorful label with the right arm and shake.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake properly.",
+    "Pick up the beverage bottle with black body and shake it.",
+    "Using the right arm, shake the plastic bottle with colorful label and then place it back.",
+    "Take the yellow capped drink bottle using the right arm and give it a shake.",
+    "Grab the beverage bottle with black body and give it a shake.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "Hold and shake the the beverage bottle with black body carefully.",
+    "Hold the bottle with blue and yellow print and shake it properly.",
+    "Grab the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Shake the yellow capped drink bottle firmly after grabbing.",
+    "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Hold the black bottle with the right arm and shake lightly.",
+    "Utilize the right arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Hold the drink bottle with rounded yellow lid steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Lift up the black bottle using the right arm, then shake.",
+    "Lift the black plastic bottle with Pepsi logo with the right arm and give it a shake.",
+    "Pick the plastic bottle with colorful label, shake it with the right arm.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Hold the drink bottle with rounded yellow lid, shake it briefly.",
+    "Use the right arm to hold the black bottle and shake it.",
+    "Pick the bottle with blue and yellow print up with the right arm and shake.",
+    "Shake the beverage bottle with black body using the right arm after grabbing.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Lift the yellow capped drink bottle and shake it gently.",
+    "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.",
+    "Shake the black cylindrical bottle with ridges after holding it firmly.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake it.",
+    "Lift the beverage bottle with black body and shake it thoroughly.",
+    "Lift the black bottle with the right arm and shake it.",
+    "Grab and shake the beverage bottle with black body using the right arm.",
+    "Secure the black bottle, shake it, and place it down.",
+    "Grab the bottle with blue and yellow print and move it to shake.",
+    "With the right arm, pick the smooth black bottle with ridges and shake properly.",
+    "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.",
+    "Secure the yellow-capped cylindrical bottle and perform a shake.",
+    "Shake the yellow-capped cylindrical bottle after lifting it.",
+    "Shake the the plastic bottle with colorful label properly after lifting.",
+    "Grip the drink bottle with rounded yellow lid using the right arm and shake.",
+    "Use the right arm to pick and shake the bottle with blue and yellow print.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Pick the medium black bottle with printed label up using the right arm and shake it.",
+    "Grab the black plastic bottle with Pepsi logo using the right arm, then shake."
+  ],
+  "unseen": [
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode13.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e60822e46dad11554aac1223d10bb2f8d675ce
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium dark brown bottle and shake it properly.",
+    "Lift the long thin bottle with the left arm and shake.",
+    "Grab the medium dark brown bottle and move it to shake.",
+    "Shake the Coca-Cola bottle firmly after grabbing.",
+    "Pick the plastic drink bottle up using the left arm and shake it.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Use the left arm to pick and shake the smooth bottle with red lid.",
+    "Grasp the brown bottle with red label with the left arm and shake it.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Use the left arm to lift and shake the Coca-Cola bottle.",
+    "Grip the red-capped bottle using the left arm and shake.",
+    "Hold the brown bottle with red label with the left arm and shake lightly.",
+    "Pick the plastic drink bottle, shake it with the left arm.",
+    "Grab the bottle with ridges on bottom with the left arm and shake.",
+    "Shake the smooth bottle with red lid using the left arm after grabbing.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Use the left arm to grab the hand-sized soda bottle and shake it.",
+    "Hold the plastic drink bottle steady, then shake it.",
+    "Grab the long thin bottle and give it a shake.",
+    "Using the left arm, shake the plastic drink bottle and then place it back.",
+    "Catch the bottle with white neck and red top and shake it instantly.",
+    "Shake the long thin bottle after lifting it.",
+    "Pick the plastic drink bottle up with the left arm and shake.",
+    "Take the red-capped bottle using the left arm and give it a shake.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Grab the long thin bottle using the left arm, then shake.",
+    "Pick the plastic drink bottle and perform shaking motion.",
+    "Shake the dark drink bottle with logo thoroughly after grabbing it.",
+    "Lift up the hand-sized soda bottle using the left arm, then shake.",
+    "Lift the dark drink bottle with logo with the left arm and give it a shake.",
+    "Grab the plastic drink bottle firmly, shake it, and put it down.",
+    "Grab and shake the dark drink bottle with logo using the left arm.",
+    "Grab the plastic drink bottle carefully and shake.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Use the left arm to hold the hand-sized soda bottle and shake it.",
+    "Use the left arm to grab the hand-sized soda bottle and shake properly.",
+    "Lift the Coca-Cola bottle and shake it gently.",
+    "Secure the long thin bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Hold and shake the the Coca-Cola bottle carefully.",
+    "Utilize the left arm to hold the long thin bottle and shake it.",
+    "Secure the narrow-necked bottle and perform a shake.",
+    "Pick up the medium dark brown bottle and shake it well.",
+    "Pick up the smooth bottle with red lid and shake it.",
+    "Lift the bottle with ridges on bottom and shake it thoroughly.",
+    "Shake the the smooth bottle with red lid properly after lifting.",
+    "Grab the red-capped bottle and shake it steadily.",
+    "Lift the hand-sized soda bottle with the left arm and shake it.",
+    "With the left arm, pick the bottle with ridges on bottom and shake properly.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Lift the plastic drink bottle with the left arm and shake.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Shake the narrow-necked bottle firmly after grabbing.",
+    "Pick the Coca-Cola bottle up using the left arm and shake it.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Use the left arm to pick and shake the plastic drink bottle.",
+    "Grasp the smooth bottle with red lid with the left arm and shake it.",
+    "Hold the medium dark brown bottle, shake it briefly.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Grip the long thin bottle using the left arm and shake.",
+    "Hold the bottle with ridges on bottom with the left arm and shake lightly.",
+    "Pick the plastic drink bottle, shake it with the left arm.",
+    "Grab the plastic drink bottle with the left arm and shake.",
+    "Shake the red-capped bottle using the left arm after grabbing.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Use the left arm to lift and shake the bottle with ridges on bottom.",
+    "Use the left arm to grab the brown bottle with red label and shake it.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Grab the dark drink bottle with logo and give it a shake.",
+    "Using the left arm, shake the brown bottle with red label and then place it back.",
+    "Catch the narrow-necked bottle and shake it instantly.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Pick the bottle with white neck and red top up with the left arm and shake.",
+    "Take the smooth bottle with red lid using the left arm and give it a shake.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Grab the long thin bottle using the left arm, then shake.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Shake the narrow-necked bottle thoroughly after grabbing it.",
+    "Lift up the bottle with ridges on bottom using the left arm, then shake.",
+    "Lift the smooth bottle with red lid with the left arm and give it a shake.",
+    "Grab the long thin bottle firmly, shake it, and put it down.",
+    "Grab and shake the bottle with ridges on bottom using the left arm.",
+    "Grab the dark drink bottle with logo carefully and shake.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Use the left arm to hold the long thin bottle and shake it.",
+    "Use the left arm to grab the medium dark brown bottle and shake properly.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Secure the hand-sized soda bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Hold and shake the the medium dark brown bottle carefully.",
+    "Utilize the left arm to hold the smooth bottle with red lid and shake it.",
+    "Secure the hand-sized soda bottle and perform a shake.",
+    "Pick up the bottle with ridges on bottom and shake it well.",
+    "Pick up the Coca-Cola bottle and shake it.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Shake the the plastic drink bottle properly after lifting.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Lift the bottle with ridges on bottom with the left arm and shake it.",
+    "With the left arm, pick the medium dark brown bottle and shake properly."
+  ],
+  "unseen": [
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the brown bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode14.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fcc0ccd1c302649eac75068af29484c2ebd27bf
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the medium-sized plastic bottle and shake it.",
+    "Pick the bottle shaped like small cylinder up using the right arm and shake it.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Use the right arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Grasp the bottle with cute ghost drawing with the right arm and shake it.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Grab the rounded body bottle made of plastic and move it to shake.",
+    "Use the right arm to lift and shake the medium cylinder-shaped bottle.",
+    "Shake the smooth surface bottle with gray shade using the right arm after grabbing.",
+    "Pick the smooth cylindrical bottle, shake it with the right arm.",
+    "Grab the gray bottle with slight shine with the right arm and shake.",
+    "Catch the gray bottle with slight shine and shake it instantly.",
+    "Shake the milk-bottle shape design thoroughly after grabbing it.",
+    "Grab the smooth surface bottle with gray shade using the right arm, then shake.",
+    "Hold the smooth cylindrical bottle and shake it properly.",
+    "Secure the rounded body bottle made of plastic and perform a shake.",
+    "Lift the bottle with cute ghost drawing and shake it thoroughly.",
+    "Use the right arm to grab the bottle with cute ghost drawing and shake properly.",
+    "Take the rounded body bottle made of plastic using the right arm and give it a shake.",
+    "Grab the milk-bottle shape design and give it a shake.",
+    "Lift the smooth surface bottle with gray shade with the right arm and shake it.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Shake the bottle with cute ghost drawing firmly after grabbing.",
+    "Shake the light gray colored container bottle after holding it firmly.",
+    "With the right arm, pick the plastic bottle with ghost print and shake properly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Lift the bottle with cute ghost drawing and shake it gently.",
+    "Secure the smooth cylindrical bottle, shake it, and place it down.",
+    "Pick the smooth surface bottle with gray shade up with the right arm and shake.",
+    "Hold the medium cylinder-shaped bottle steady, then shake it.",
+    "Pick up the bottle with cute ghost drawing and shake it well.",
+    "Pick up the rounded body bottle made of plastic and shake it.",
+    "Shake the the bottle with cute ghost drawing properly after lifting.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Lift up the medium cylinder-shaped bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Utilize the right arm to hold the light gray colored container bottle and shake it.",
+    "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.",
+    "Use the right arm to pick and shake the bottle with cute ghost drawing.",
+    "Using the right arm, shake the gray bottle with slight shine and then place it back.",
+    "Hold and shake the the gray bottle with slight shine carefully.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.",
+    "Pick the gray bottle with slight shine and perform shaking motion.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Grab and shake the hand-sized bottle with screw cap using the right arm.",
+    "Lift the milk-bottle shape design with the right arm and give it a shake.",
+    "Shake the medium cylinder-shaped bottle after lifting it.",
+    "Grip the smooth surface bottle with gray shade using the right arm and shake.",
+    "Lift the smooth cylindrical bottle with the right arm and shake.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Use the right arm to grab the rounded body bottle made of plastic and shake it.",
+    "Pick the light gray colored container bottle up using the right arm and shake it.",
+    "Grab the medium cylinder-shaped bottle and shake it steadily.",
+    "Use the right arm to hold the rounded body bottle made of plastic and shake it.",
+    "Grasp the medium-sized plastic bottle with the right arm and shake it.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Grab the smooth surface bottle with gray shade and move it to shake.",
+    "Use the right arm to lift and shake the gray bottle with slight shine.",
+    "Shake the hand-sized bottle with screw cap using the right arm after grabbing.",
+    "Pick the bottle shaped like small cylinder, shake it with the right arm.",
+    "Grab the smooth surface bottle with gray shade with the right arm and shake.",
+    "Catch the rounded body bottle made of plastic and shake it instantly.",
+    "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.",
+    "Grab the milk-bottle shape design using the right arm, then shake.",
+    "Hold the light gray colored container bottle and shake it properly.",
+    "Secure the hand-sized bottle with screw cap and perform a shake.",
+    "Lift the plastic bottle with ghost print and shake it thoroughly.",
+    "Use the right arm to grab the smooth surface bottle with gray shade and shake properly.",
+    "Take the bottle shaped like small cylinder using the right arm and give it a shake.",
+    "Grab the medium-sized plastic bottle and give it a shake.",
+    "Lift the plastic bottle with ghost print with the right arm and shake it.",
+    "Grab the medium-sized plastic bottle carefully and shake.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "Shake the rounded body bottle made of plastic after holding it firmly.",
+    "With the right arm, pick the light gray colored container bottle and shake properly.",
+    "Shake the milk-bottle shape design after grabbing it.",
+    "Lift the bottle shaped like small cylinder and shake it gently.",
+    "Secure the smooth surface bottle with gray shade, shake it, and place it down.",
+    "Pick the smooth cylindrical bottle up with the right arm and shake.",
+    "Hold the smooth cylindrical bottle steady, then shake it.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Shake the the smooth cylindrical bottle properly after lifting.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Lift up the gray bottle with slight shine using the right arm, then shake.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Utilize the right arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.",
+    "Use the right arm to pick and shake the smooth cylindrical bottle.",
+    "Using the right arm, shake the gray bottle with slight shine and then place it back.",
+    "Hold and shake the the hand-sized bottle with screw cap carefully.",
+    "Hold the bottle with cute ghost drawing with the right arm and shake lightly.",
+    "Pick the bottle with cute ghost drawing and perform shaking motion.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Grab and shake the plastic bottle with ghost print using the right arm.",
+    "Lift the plastic bottle with ghost print with the right arm and give it a shake.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Grip the smooth surface bottle with gray shade using the right arm and shake.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake.",
+    "Shake the bottle with cute ghost drawing after grabbing it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode15.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..b167239e0bb8597261c044394b194d13c1ad4b21
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hand-sized bottle with screw cap with the left arm and give it a shake.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Pick the plastic bottle with ghost print, shake it with the left arm.",
+    "Pick up the medium-sized plastic bottle and shake it well.",
+    "Grab the medium-sized plastic bottle and move it to shake.",
+    "Pick the bottle with cute ghost drawing up with the left arm and shake.",
+    "Grab the smooth cylindrical bottle firmly, shake it, and put it down.",
+    "Shake the light gray colored container bottle firmly after grabbing.",
+    "Use the left arm to grab the gray bottle with slight shine and shake it.",
+    "Lift the rounded body bottle made of plastic and shake it thoroughly.",
+    "Lift the gray bottle with slight shine and shake it gently.",
+    "Grab and shake the light gray colored container bottle using the left arm.",
+    "Hold and shake the the milk-bottle shape design carefully.",
+    "Grab the rounded body bottle made of plastic carefully and shake.",
+    "Lift up the milk-bottle shape design using the left arm, then shake.",
+    "With the left arm, pick the rounded body bottle made of plastic and shake properly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Catch the gray bottle with slight shine and shake it instantly.",
+    "Use the left arm to lift and shake the medium-sized plastic bottle.",
+    "Shake the milk-bottle shape design after lifting it.",
+    "Grab the plastic bottle with ghost print using the left arm, then shake.",
+    "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.",
+    "Grab the milk-bottle shape design and shake it steadily.",
+    "Pick the medium cylinder-shaped bottle up using the left arm and shake it.",
+    "Hold the hand-sized bottle with screw cap and shake it properly.",
+    "Using the left arm, shake the medium cylinder-shaped bottle and then place it back.",
+    "Hold the bottle shaped like small cylinder with the left arm and shake lightly.",
+    "Secure the medium-sized plastic bottle, shake it, and place it down.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Hold the rounded body bottle made of plastic steady, then shake it.",
+    "Pick the hand-sized bottle with screw cap and perform shaking motion.",
+    "Grip the bottle with cute ghost drawing using the left arm and shake.",
+    "Grab the hand-sized bottle with screw cap and give it a shake.",
+    "Shake the light gray colored container bottle after holding it firmly.",
+    "Use the left arm to lift and shake the light gray colored container bottle.",
+    "Use the left arm to hold the bottle shaped like small cylinder and shake it.",
+    "Use the left arm to pick and shake the hand-sized bottle with screw cap.",
+    "Take the smooth cylindrical bottle using the left arm and give it a shake.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Lift the plastic bottle with ghost print with the left arm and shake.",
+    "Shake the the smooth cylindrical bottle properly after lifting.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and shake properly.",
+    "Use the left arm to lift and shake the smooth cylindrical bottle.",
+    "Lift the light gray colored container bottle with the left arm and shake it.",
+    "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Secure the medium cylinder-shaped bottle and perform a shake.",
+    "Grab the gray bottle with slight shine with the left arm and shake.",
+    "Pick up the rounded body bottle made of plastic and shake it.",
+    "Grasp the medium-sized plastic bottle with the left arm and shake it.",
+    "Shake the gray bottle with slight shine using the left arm after grabbing.",
+    "Lift the milk-bottle shape design with the left arm and give it a shake.",
+    "Hold the gray bottle with slight shine, shake it briefly.",
+    "Pick the medium-sized plastic bottle, shake it with the left arm.",
+    "Pick up the smooth surface bottle with gray shade and shake it well.",
+    "Grab the medium cylinder-shaped bottle and move it to shake.",
+    "Pick the gray bottle with slight shine up with the left arm and shake.",
+    "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.",
+    "Shake the medium-sized plastic bottle firmly after grabbing.",
+    "Use the left arm to grab the plastic bottle with ghost print and shake it.",
+    "Lift the light gray colored container bottle and shake it thoroughly.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Grab and shake the bottle with cute ghost drawing using the left arm.",
+    "Hold and shake the the gray bottle with slight shine carefully.",
+    "Grab the medium-sized plastic bottle carefully and shake.",
+    "Lift up the bottle with cute ghost drawing using the left arm, then shake.",
+    "With the left arm, pick the medium-sized plastic bottle and shake properly.",
+    "Shake the milk-bottle shape design after grabbing it.",
+    "Catch the rounded body bottle made of plastic and shake it instantly.",
+    "Use the left arm to lift and shake the rounded body bottle made of plastic.",
+    "Shake the rounded body bottle made of plastic after lifting it.",
+    "Grab the milk-bottle shape design using the left arm, then shake.",
+    "Shake the plastic bottle with ghost print thoroughly after grabbing it.",
+    "Grab the smooth surface bottle with gray shade and shake it steadily.",
+    "Pick the hand-sized bottle with screw cap up using the left arm and shake it.",
+    "Hold the medium cylinder-shaped bottle and shake it properly.",
+    "Using the left arm, shake the medium cylinder-shaped bottle and then place it back.",
+    "Hold the light gray colored container bottle with the left arm and shake lightly.",
+    "Secure the bottle shaped like small cylinder, shake it, and place it down.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Hold the rounded body bottle made of plastic steady, then shake it.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Grip the plastic bottle with ghost print using the left arm and shake.",
+    "Grab the medium cylinder-shaped bottle and give it a shake.",
+    "Shake the medium cylinder-shaped bottle after holding it firmly.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Use the left arm to hold the light gray colored container bottle and shake it.",
+    "Use the left arm to pick and shake the bottle with cute ghost drawing.",
+    "Take the gray bottle with slight shine using the left arm and give it a shake.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Lift the bottle with cute ghost drawing with the left arm and shake.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Use the left arm to grab the smooth cylindrical bottle and shake properly.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Lift the bottle with cute ghost drawing with the left arm and shake it.",
+    "Utilize the left arm to hold the plastic bottle with ghost print and shake it.",
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Grab the medium cylinder-shaped bottle with the left arm and shake.",
+    "Pick up the hand-sized bottle with screw cap and shake it.",
+    "Grasp the bottle shaped like small cylinder with the left arm and shake it.",
+    "Shake the bottle shaped like small cylinder using the left arm after grabbing."
+  ],
+  "unseen": [
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode16.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef03ed7775a637ad23c65c5de965106375ad6721
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the narrow-necked bottle using the left arm and shake.",
+    "Lift up the plastic drink bottle using the left arm, then shake.",
+    "Pick the red-capped bottle, shake it with the left arm.",
+    "Secure the long thin bottle, shake it, and place it down.",
+    "Lift the hand-sized soda bottle with the left arm and shake it.",
+    "Use the left arm to grab the smooth bottle with red lid and shake properly.",
+    "Hold the hand-sized soda bottle with the left arm and shake lightly.",
+    "Hold and shake the the smooth bottle with red lid carefully.",
+    "Catch the plastic drink bottle and shake it instantly.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Pick up the hand-sized soda bottle and shake it.",
+    "Use the left arm to pick and shake the hand-sized soda bottle.",
+    "With the left arm, pick the dark drink bottle with logo and shake properly.",
+    "Secure the bottle with ridges on bottom and perform a shake.",
+    "Grab and shake the bottle with white neck and red top using the left arm.",
+    "Grab the bottle with white neck and red top carefully and shake.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Shake the bottle with white neck and red top using the left arm after grabbing.",
+    "Lift the hand-sized soda bottle and shake it gently.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Grab the bottle with ridges on bottom firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Using the left arm, shake the dark drink bottle with logo and then place it back.",
+    "Utilize the left arm to hold the medium dark brown bottle and shake it.",
+    "Grab the medium dark brown bottle with the left arm and shake.",
+    "Pick up the brown bottle with red label and shake it well.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "Lift the dark drink bottle with logo with the left arm and give it a shake.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Hold the bottle with ridges on bottom and shake it properly.",
+    "Pick the dark drink bottle with logo up with the left arm and shake.",
+    "Grab the narrow-necked bottle and shake it steadily.",
+    "Shake the red-capped bottle thoroughly after grabbing it.",
+    "Grab the hand-sized soda bottle using the left arm, then shake.",
+    "Lift the narrow-necked bottle with the left arm and shake.",
+    "Use the left arm to hold the Coca-Cola bottle and shake it.",
+    "Take the brown bottle with red label using the left arm and give it a shake.",
+    "Grasp the long thin bottle with the left arm and shake it.",
+    "Lift the plastic drink bottle and shake it thoroughly.",
+    "Grab the dark drink bottle with logo and move it to shake.",
+    "Hold the red-capped bottle steady, then shake it.",
+    "Use the left arm to grab the bottle with ridges on bottom and shake it.",
+    "Shake the Coca-Cola bottle after holding it firmly.",
+    "Hold the Coca-Cola bottle, shake it briefly.",
+    "Use the left arm to lift and shake the red-capped bottle.",
+    "Shake the bottle with ridges on bottom after lifting it.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Pick the plastic drink bottle up using the left arm and shake it.",
+    "Grip the Coca-Cola bottle using the left arm and shake.",
+    "Lift up the bottle with white neck and red top using the left arm, then shake.",
+    "Pick the red-capped bottle, shake it with the left arm.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Lift the bottle with white neck and red top with the left arm and shake it.",
+    "Use the left arm to grab the medium dark brown bottle and shake properly.",
+    "Hold the dark drink bottle with logo with the left arm and shake lightly.",
+    "Hold and shake the the bottle with ridges on bottom carefully.",
+    "Catch the smooth bottle with red lid and shake it instantly.",
+    "Pick the hand-sized soda bottle and perform shaking motion.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Pick up the plastic drink bottle and shake it.",
+    "Use the left arm to pick and shake the long thin bottle.",
+    "With the left arm, pick the smooth bottle with red lid and shake properly.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Grab and shake the medium dark brown bottle using the left arm.",
+    "Grab the hand-sized soda bottle carefully and shake.",
+    "Shake the brown bottle with red label firmly after grabbing.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Shake the bottle with ridges on bottom using the left arm after grabbing.",
+    "Lift the long thin bottle and shake it gently.",
+    "Use the left arm to lift and shake the red-capped bottle.",
+    "Grab the brown bottle with red label firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the dark drink bottle with logo.",
+    "Using the left arm, shake the red-capped bottle and then place it back.",
+    "Utilize the left arm to hold the narrow-necked bottle and shake it.",
+    "Grab the plastic drink bottle with the left arm and shake.",
+    "Pick up the bottle with white neck and red top and shake it well.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Lift the hand-sized soda bottle with the left arm and give it a shake.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Pick the medium dark brown bottle up with the left arm and shake.",
+    "Grab the narrow-necked bottle and shake it steadily.",
+    "Shake the dark drink bottle with logo thoroughly after grabbing it.",
+    "Grab the smooth bottle with red lid using the left arm, then shake.",
+    "Lift the Coca-Cola bottle with the left arm and shake.",
+    "Use the left arm to hold the Coca-Cola bottle and shake it.",
+    "Take the red-capped bottle using the left arm and give it a shake.",
+    "Grasp the brown bottle with red label with the left arm and shake it.",
+    "Lift the bottle with white neck and red top and shake it thoroughly.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Use the left arm to grab the smooth bottle with red lid and shake it.",
+    "Shake the bottle with white neck and red top after holding it firmly.",
+    "Hold the red-capped bottle, shake it briefly.",
+    "Use the left arm to lift and shake the bottle with white neck and red top.",
+    "Shake the Coca-Cola bottle after lifting it.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Pick the long thin bottle up using the left arm and shake it."
+  ],
+  "unseen": [
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode17.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..359143ca7d9a630db2922baa98d91737b95a5945
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth plastic bottle with white cap with the right arm and shake it.",
+    "Grab the bottle with green cap and give it a shake.",
+    "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.",
+    "Grasp the bottle with flat sides and logo with the right arm and shake it.",
+    "Lift the bottle with flat sides and logo with the right arm and give it a shake.",
+    "Pick the smooth brown bottle with green label, shake it with the right arm.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the the dark brown bottle with a squared body properly after lifting.",
+    "Use the right arm to lift and shake the bottle with flat sides and logo.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it.",
+    "Use the right arm to grab the rectangular-shaped bottle with round cap and shake properly.",
+    "Grab the brown bottle and move it to shake.",
+    "Utilize the right arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Catch the rectangular-shaped bottle with round cap and shake it instantly.",
+    "Take the rectangular-shaped bottle with round cap using the right arm and give it a shake.",
+    "Grab the rectangular brown body with white top firmly, shake it, and put it down.",
+    "Grab the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "Use the right arm to pick and shake the smooth brown bottle with green label.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Shake the medium bottle with glossy surface using the right arm after grabbing.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Hold the smooth brown bottle with green label steady, then shake it.",
+    "Grab the brown bottle and shake it steadily.",
+    "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.",
+    "Grab and shake the brown bottle using the right arm.",
+    "Hold and shake the the brown bottle with rounded rectangular shape carefully.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Grab the rectangular brown body with white top carefully and shake.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Lift up the bottle with flat sides and logo using the right arm, then shake.",
+    "Pick the medium bottle with glossy surface up with the right arm and shake.",
+    "With the right arm, pick the dark brown bottle with a squared body and shake properly.",
+    "Lift the smooth plastic bottle with white cap and shake it thoroughly.",
+    "Pick the brown bottle with rounded rectangular shape and perform shaking motion.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Shake the brown bottle with rounded rectangular shape after lifting it.",
+    "Pick the dark brown bottle with a squared body up using the right arm and shake it.",
+    "Lift the smooth brown bottle with green label with the right arm and shake.",
+    "Lift the bottle with flat sides and logo and shake it gently.",
+    "Grab the brown bottle using the right arm, then shake.",
+    "Secure the rectangular-shaped bottle with round cap and perform a shake.",
+    "Grip the brown bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the rectangular brown body with white top.",
+    "Hold the bottle with flat sides and logo with the right arm and shake lightly.",
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Use the right arm to hold the medium-sized brown plastic bottle and shake it.",
+    "Pick up the smooth plastic bottle with white cap and shake it well.",
+    "Lift the brown bottle with the right arm and shake it.",
+    "Grab the medium bottle with glossy surface and give it a shake.",
+    "Shake the dark brown bottle with a squared body thoroughly after grabbing it.",
+    "Grasp the smooth brown bottle with green label with the right arm and shake it.",
+    "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.",
+    "Pick the smooth brown bottle with green label, shake it with the right arm.",
+    "Hold the smooth brown bottle with green label, shake it briefly.",
+    "Shake the the smooth brown bottle with green label properly after lifting.",
+    "Use the right arm to lift and shake the smooth plastic bottle with white cap.",
+    "Pick up the bottle with green cap and shake it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab the bottle with flat sides and logo and move it to shake.",
+    "Utilize the right arm to hold the bottle with flat sides and logo and shake it.",
+    "Catch the rectangular-shaped bottle with round cap and shake it instantly.",
+    "Take the bottle with flat sides and logo using the right arm and give it a shake.",
+    "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.",
+    "Grab the medium-sized brown plastic bottle with the right arm and shake.",
+    "Use the right arm to pick and shake the medium-sized brown plastic bottle.",
+    "Shake the smooth plastic bottle with white cap after holding it firmly.",
+    "Shake the medium bottle with glossy surface using the right arm after grabbing.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Use the right arm to grab the bottle with flat sides and logo and shake it.",
+    "Shake the rectangular-shaped bottle with round cap firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Hold the dark brown bottle with a squared body steady, then shake it.",
+    "Grab the rectangular-shaped bottle with round cap and shake it steadily.",
+    "Using the right arm, shake the bottle with green cap and then place it back.",
+    "Grab and shake the smooth brown bottle with green label using the right arm.",
+    "Hold and shake the the medium-sized brown plastic bottle carefully.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Grab the brown bottle carefully and shake.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Lift up the bottle with green cap using the right arm, then shake.",
+    "Pick the dark brown bottle with a squared body up with the right arm and shake.",
+    "With the right arm, pick the rectangular-shaped bottle with round cap and shake properly.",
+    "Lift the smooth brown bottle with green label and shake it thoroughly.",
+    "Pick the bottle with green cap and perform shaking motion.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Shake the smooth plastic bottle with white cap after lifting it.",
+    "Pick the brown bottle with rounded rectangular shape up using the right arm and shake it.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "Lift the dark brown bottle with a squared body and shake it gently.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Secure the smooth plastic bottle with white cap and perform a shake.",
+    "Grip the bottle with flat sides and logo using the right arm and shake.",
+    "Use the right arm to lift and shake the rectangular brown body with white top.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Hold the brown bottle and shake it properly.",
+    "Use the right arm to hold the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it well."
+  ],
+  "unseen": [
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode18.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d7334290f26391d53e93bc5e569fb16905b18f1
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the orange cylindrical bottle up using the right arm and shake it.",
+    "Lift the bottle with yellow cap with the right arm and shake.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the medium-sized orange bottle using the right arm, then shake.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Pick the bottle with printed label, shake it with the right arm.",
+    "Pick up the yellow-capped plastic bottle and shake it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Pick the medium-sized orange bottle and perform shaking motion.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it well.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.",
+    "Utilize the right arm to hold the bottle with narrow neck and shake it.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Lift the orange bottle and shake it gently.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Shake the the bottle for liquids properly after lifting.",
+    "Grip the cylindrical orange bottle with yellow top using the right arm and shake.",
+    "Lift up the orange cylindrical bottle using the right arm, then shake.",
+    "Hold the medium-sized orange bottle, shake it briefly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "With the right arm, pick the bottle with printed label and shake properly.",
+    "Use the right arm to hold the yellow-capped plastic bottle and shake it.",
+    "Shake the yellow-capped plastic bottle after lifting it.",
+    "Hold the yellow-capped plastic bottle and shake it properly.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Pick the yellow-capped plastic bottle up with the right arm and shake.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Hold the yellow-capped plastic bottle with the right arm and shake lightly.",
+    "Shake the medium-sized orange bottle firmly after grabbing.",
+    "Grab the medium-sized orange bottle with the right arm and shake.",
+    "Lift the orange cylindrical bottle with the right arm and shake it.",
+    "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.",
+    "Grab and shake the bottle with narrow neck using the right arm.",
+    "Use the right arm to pick and shake the bottle with printed label.",
+    "Lift the bottle with yellow cap with the right arm and give it a shake.",
+    "Pick the bottle with yellow cap up using the right arm and shake it.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Grab the plastic bottle with sealed yellow cap and move it to shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Grab the bottle with printed label using the right arm, then shake.",
+    "Grasp the bottle with narrow neck with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Pick the yellow-capped plastic bottle, shake it with the right arm.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Shake the bottle with yellow cap using the right arm after grabbing.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Use the right arm to grab the medium-sized orange bottle and shake it.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Lift the bottle with narrow neck and shake it gently.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Grip the bottle with printed label using the right arm and shake.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "With the right arm, pick the bottle with narrow neck and shake properly.",
+    "Use the right arm to hold the bottle with yellow cap and shake it.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grab the bottle with yellow cap and shake it steadily.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Take the medium-sized orange bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the orange cylindrical bottle and shake properly.",
+    "Shake the bottle with yellow cap after holding it firmly.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Grab the bottle with narrow neck with the right arm and shake.",
+    "Lift the medium-sized orange bottle with the right arm and shake it.",
+    "Using the right arm, shake the medium-sized orange bottle and then place it back.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Use the right arm to pick and shake the bottle with printed label.",
+    "Lift the orange bottle with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode19.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6108034f3a025df9965a1b3b7a3632b2ff6b4e65
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Grab the plastic bottle with ghost print firmly, shake it, and put it down.",
+    "Lift up the bottle with cute ghost drawing using the left arm, then shake.",
+    "Grab the medium cylinder-shaped bottle and move it to shake.",
+    "Utilize the left arm to hold the smooth cylindrical bottle and shake it.",
+    "Grab and shake the rounded body bottle made of plastic using the left arm.",
+    "Use the left arm to lift and shake the medium-sized plastic bottle.",
+    "Hold the light gray colored container bottle with the left arm and shake lightly.",
+    "Grab the plastic bottle with ghost print with the left arm and shake.",
+    "Pick up the milk-bottle shape design and shake it well.",
+    "Grab the bottle shaped like small cylinder using the left arm, then shake.",
+    "Use the left arm to grab the medium-sized plastic bottle and shake properly.",
+    "Lift the plastic bottle with ghost print with the left arm and shake it.",
+    "Lift the medium-sized plastic bottle with the left arm and give it a shake.",
+    "Grip the milk-bottle shape design using the left arm and shake.",
+    "Shake the gray bottle with slight shine using the left arm after grabbing.",
+    "Use the left arm to grab the gray bottle with slight shine and shake it.",
+    "Grab the light gray colored container bottle carefully and shake.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Use the left arm to hold the rounded body bottle made of plastic and shake it.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Shake the medium-sized plastic bottle thoroughly after grabbing it.",
+    "Hold and shake the the plastic bottle with ghost print carefully.",
+    "Grab the smooth surface bottle with gray shade and shake it steadily.",
+    "Pick the bottle with cute ghost drawing and perform shaking motion.",
+    "Hold the milk-bottle shape design, shake it briefly.",
+    "Pick the hand-sized bottle with screw cap, shake it with the left arm.",
+    "Shake the the plastic bottle with ghost print properly after lifting.",
+    "Shake the bottle with cute ghost drawing after lifting it.",
+    "Lift the gray bottle with slight shine and shake it thoroughly.",
+    "Grasp the gray bottle with slight shine with the left arm and shake it.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grab the medium cylinder-shaped bottle and give it a shake.",
+    "Pick the medium cylinder-shaped bottle up using the left arm and shake it.",
+    "Shake the light gray colored container bottle after holding it firmly.",
+    "Shake the hand-sized bottle with screw cap firmly after grabbing.",
+    "Use the left arm to lift and shake the gray bottle with slight shine.",
+    "Using the left arm, shake the rounded body bottle made of plastic and then place it back.",
+    "Hold the gray bottle with slight shine and shake it properly.",
+    "Take the hand-sized bottle with screw cap using the left arm and give it a shake.",
+    "Hold the medium cylinder-shaped bottle steady, then shake it.",
+    "Pick the bottle with cute ghost drawing up with the left arm and shake.",
+    "With the left arm, pick the plastic bottle with ghost print and shake properly.",
+    "Use the left arm to lift and shake the light gray colored container bottle.",
+    "Secure the medium-sized plastic bottle, shake it, and place it down.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Lift the light gray colored container bottle with the left arm and shake.",
+    "Use the left arm to pick and shake the light gray colored container bottle.",
+    "Catch the bottle shaped like small cylinder and shake it instantly.",
+    "Secure the medium cylinder-shaped bottle and perform a shake.",
+    "Grab the plastic bottle with ghost print firmly, shake it, and put it down.",
+    "Lift up the medium-sized plastic bottle using the left arm, then shake.",
+    "Grab the milk-bottle shape design and move it to shake.",
+    "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Grab and shake the smooth surface bottle with gray shade using the left arm.",
+    "Use the left arm to lift and shake the rounded body bottle made of plastic.",
+    "Hold the plastic bottle with ghost print with the left arm and shake lightly.",
+    "Grab the smooth cylindrical bottle with the left arm and shake.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Grab the bottle with cute ghost drawing using the left arm, then shake.",
+    "Use the left arm to grab the rounded body bottle made of plastic and shake properly.",
+    "Lift the gray bottle with slight shine with the left arm and shake it.",
+    "Lift the light gray colored container bottle with the left arm and give it a shake.",
+    "Grip the medium-sized plastic bottle using the left arm and shake.",
+    "Shake the milk-bottle shape design using the left arm after grabbing.",
+    "Use the left arm to grab the plastic bottle with ghost print and shake it.",
+    "Grab the plastic bottle with ghost print carefully and shake.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Use the left arm to hold the rounded body bottle made of plastic and shake it.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "Hold and shake the the bottle shaped like small cylinder carefully.",
+    "Grab the milk-bottle shape design and shake it steadily.",
+    "Pick the milk-bottle shape design and perform shaking motion.",
+    "Hold the hand-sized bottle with screw cap, shake it briefly.",
+    "Pick the medium-sized plastic bottle, shake it with the left arm.",
+    "Shake the the rounded body bottle made of plastic properly after lifting.",
+    "Shake the smooth cylindrical bottle after lifting it.",
+    "Lift the smooth surface bottle with gray shade and shake it thoroughly.",
+    "Grasp the medium-sized plastic bottle with the left arm and shake it.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Grab the rounded body bottle made of plastic and give it a shake.",
+    "Pick the gray bottle with slight shine up using the left arm and shake it.",
+    "Shake the plastic bottle with ghost print after holding it firmly.",
+    "Shake the medium cylinder-shaped bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Hold the medium cylinder-shaped bottle and shake it properly.",
+    "Take the smooth cylindrical bottle using the left arm and give it a shake.",
+    "Hold the rounded body bottle made of plastic steady, then shake it.",
+    "Pick the smooth surface bottle with gray shade up with the left arm and shake.",
+    "With the left arm, pick the gray bottle with slight shine and shake properly.",
+    "Use the left arm to lift and shake the rounded body bottle made of plastic.",
+    "Secure the smooth cylindrical bottle, shake it, and place it down.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Pick up the hand-sized bottle with screw cap and shake it.",
+    "Lift the light gray colored container bottle with the left arm and shake.",
+    "Use the left arm to pick and shake the plastic bottle with ghost print.",
+    "Catch the plastic bottle with ghost print and shake it instantly."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode2.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf10a67344fe53a1d08f7af61fff557764119585
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle with ghost print firmly, shake it, and put it down.",
+    "Hold the plastic bottle with ghost print steady, then shake it.",
+    "Secure the milk-bottle shape design, shake it, and place it down.",
+    "Grab the rounded body bottle made of plastic using the left arm, then shake.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "With the left arm, pick the bottle shaped like small cylinder and shake properly.",
+    "Hold and shake the the bottle shaped like small cylinder carefully.",
+    "Hold the rounded body bottle made of plastic and shake it properly.",
+    "Use the left arm to lift and shake the hand-sized bottle with screw cap.",
+    "Pick up the gray bottle with slight shine and shake it.",
+    "Grip the smooth surface bottle with gray shade using the left arm and shake.",
+    "Shake the smooth cylindrical bottle firmly after grabbing.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Pick the milk-bottle shape design up using the left arm and shake it.",
+    "Pick the smooth cylindrical bottle, shake it with the left arm.",
+    "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.",
+    "Use the left arm to grab the hand-sized bottle with screw cap and shake properly.",
+    "Pick the rounded body bottle made of plastic up with the left arm and shake.",
+    "Pick up the bottle with cute ghost drawing and shake it well.",
+    "Shake the the milk-bottle shape design properly after lifting.",
+    "Take the gray bottle with slight shine using the left arm and give it a shake.",
+    "Lift the bottle with cute ghost drawing with the left arm and shake.",
+    "Grab the smooth surface bottle with gray shade and shake it steadily.",
+    "Use the left arm to pick and shake the smooth surface bottle with gray shade.",
+    "Shake the medium cylinder-shaped bottle using the left arm after grabbing.",
+    "Use the left arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Use the left arm to lift and shake the medium cylinder-shaped bottle.",
+    "Grab the bottle shaped like small cylinder and move it to shake.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Use the left arm to lift and shake the medium cylinder-shaped bottle.",
+    "Pick the bottle with cute ghost drawing and perform shaking motion.",
+    "Lift the milk-bottle shape design and shake it gently.",
+    "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.",
+    "Shake the milk-bottle shape design after grabbing it.",
+    "Grab the bottle shaped like small cylinder and give it a shake.",
+    "Grab the gray bottle with slight shine carefully and shake.",
+    "Catch the light gray colored container bottle and shake it instantly.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grasp the plastic bottle with ghost print with the left arm and shake it.",
+    "Utilize the left arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Lift the bottle shaped like small cylinder with the left arm and shake it.",
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Grab the bottle with cute ghost drawing with the left arm and shake.",
+    "Lift up the gray bottle with slight shine using the left arm, then shake.",
+    "Lift the gray bottle with slight shine and shake it thoroughly.",
+    "Use the left arm to grab the bottle shaped like small cylinder and shake it.",
+    "Shake the smooth cylindrical bottle after lifting it.",
+    "Using the left arm, shake the milk-bottle shape design and then place it back.",
+    "Lift the gray bottle with slight shine with the left arm and give it a shake.",
+    "Grab and shake the bottle shaped like small cylinder using the left arm.",
+    "Grab the smooth cylindrical bottle firmly, shake it, and put it down.",
+    "Hold the medium cylinder-shaped bottle steady, then shake it.",
+    "Secure the hand-sized bottle with screw cap, shake it, and place it down.",
+    "Grab the light gray colored container bottle using the left arm, then shake.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "With the left arm, pick the medium-sized plastic bottle and shake properly.",
+    "Hold and shake the the medium cylinder-shaped bottle carefully.",
+    "Hold the medium-sized plastic bottle and shake it properly.",
+    "Use the left arm to lift and shake the bottle shaped like small cylinder.",
+    "Pick up the bottle with cute ghost drawing and shake it.",
+    "Grip the medium cylinder-shaped bottle using the left arm and shake.",
+    "Shake the light gray colored container bottle firmly after grabbing.",
+    "Hold the gray bottle with slight shine, shake it briefly.",
+    "Pick the bottle with cute ghost drawing up using the left arm and shake it.",
+    "Pick the bottle shaped like small cylinder, shake it with the left arm.",
+    "Hold the bottle with cute ghost drawing with the left arm and shake lightly.",
+    "Use the left arm to grab the medium-sized plastic bottle and shake properly.",
+    "Pick the medium cylinder-shaped bottle up with the left arm and shake.",
+    "Pick up the bottle with cute ghost drawing and shake it well.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Take the hand-sized bottle with screw cap using the left arm and give it a shake.",
+    "Lift the medium cylinder-shaped bottle with the left arm and shake.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Use the left arm to pick and shake the gray bottle with slight shine.",
+    "Shake the hand-sized bottle with screw cap using the left arm after grabbing.",
+    "Use the left arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Use the left arm to lift and shake the smooth cylindrical bottle.",
+    "Grab the plastic bottle with ghost print and move it to shake.",
+    "Shake the smooth cylindrical bottle after holding it firmly.",
+    "Use the left arm to lift and shake the smooth surface bottle with gray shade.",
+    "Pick the gray bottle with slight shine and perform shaking motion.",
+    "Lift the smooth surface bottle with gray shade and shake it gently.",
+    "Shake the light gray colored container bottle thoroughly after grabbing it.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Grab the smooth surface bottle with gray shade and give it a shake.",
+    "Grab the plastic bottle with ghost print carefully and shake.",
+    "Catch the gray bottle with slight shine and shake it instantly.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Grasp the smooth surface bottle with gray shade with the left arm and shake it.",
+    "Utilize the left arm to hold the milk-bottle shape design and shake it.",
+    "Lift the light gray colored container bottle with the left arm and shake it.",
+    "Secure the rounded body bottle made of plastic and perform a shake.",
+    "Grab the smooth surface bottle with gray shade with the left arm and shake.",
+    "Lift up the bottle shaped like small cylinder using the left arm, then shake.",
+    "Lift the bottle with cute ghost drawing and shake it thoroughly.",
+    "Use the left arm to grab the smooth cylindrical bottle and shake it.",
+    "Shake the smooth surface bottle with gray shade after lifting it.",
+    "Using the left arm, shake the bottle shaped like small cylinder and then place it back.",
+    "Lift the bottle shaped like small cylinder with the left arm and give it a shake.",
+    "Grab and shake the medium cylinder-shaped bottle using the left arm."
+  ],
+  "unseen": [
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode3.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..85eee6cf1c2b2fb73285c3c2be1eb1be3f4bf531
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical bottle up using the right arm and shake it.",
+    "Lift the medium bottle for beverages with the right arm and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Pick the blue bottle with label up with the right arm and shake.",
+    "Grab the white bottle with blue accents using the right arm, then shake.",
+    "Shake the blue bottle with label after lifting it.",
+    "Pick up the blue bottle and shake it.",
+    "Lift the white and blue bottle and shake it thoroughly.",
+    "Shake the blue bottle with label using the right arm after grabbing.",
+    "Lift the blue bottle with label with the right arm and give it a shake.",
+    "Grab the cylindrical bottle and move it to shake.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Hold the handheld bottle, shake it briefly.",
+    "Catch the cylindrical bottle and shake it instantly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Pick the medium bottle for beverages, shake it with the right arm.",
+    "Use the right arm to lift and shake the medium-sized bottle.",
+    "Grip the blue bottle using the right arm and shake.",
+    "Shake the white bottle with blue accents after grabbing it.",
+    "Use the right arm to pick and shake the medium bottle for beverages.",
+    "Utilize the right arm to hold the bottle with blue cap and shake it.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "With the right arm, pick the handheld bottle and shake properly.",
+    "Shake the the medium bottle for beverages properly after lifting.",
+    "Use the right arm to grab the medium bottle for beverages and shake it.",
+    "Lift up the cylindrical bottle using the right arm, then shake.",
+    "Hold the medium-sized bottle with the right arm and shake lightly.",
+    "Shake the medium-sized bottle firmly after grabbing.",
+    "Take the bottle with blue cap using the right arm and give it a shake.",
+    "Grasp the handheld bottle with the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab the medium-sized bottle with the right arm and shake.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Use the right arm to hold the smooth plastic bottle and shake it.",
+    "Shake the medium bottle for beverages thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium bottle for beverages.",
+    "Pick up the handheld bottle and shake it well.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Lift the blue bottle and shake it gently.",
+    "Grab the white bottle with blue accents and shake it steadily.",
+    "Secure the blue bottle and perform a shake.",
+    "Grab and shake the medium bottle for beverages using the right arm.",
+    "Shake the blue bottle with label after grabbing it.",
+    "Pick the blue bottle and perform shaking motion.",
+    "Hold the blue bottle and shake it properly.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Secure the medium bottle for beverages, shake it, and place it down.",
+    "Grab the bottle with blue cap carefully and shake.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Pick the blue bottle up with the right arm and shake.",
+    "Grab the white and blue bottle using the right arm, then shake.",
+    "Shake the blue bottle with label after lifting it.",
+    "Pick up the white and blue bottle and shake it.",
+    "Lift the blue bottle with label and shake it thoroughly.",
+    "Shake the white and blue bottle using the right arm after grabbing.",
+    "Lift the handheld bottle with the right arm and give it a shake.",
+    "Grab the medium bottle for beverages and move it to shake.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Catch the blue bottle with label and shake it instantly.",
+    "Grab the bottle with blue cap and give it a shake.",
+    "Pick the medium-sized bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the blue bottle.",
+    "Grip the bottle for liquids using the right arm and shake.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Utilize the right arm to hold the white bottle with blue accents and shake it.",
+    "Hold the white bottle with blue accents steady, then shake it.",
+    "With the right arm, pick the medium-sized bottle and shake properly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Use the right arm to grab the handheld bottle and shake it.",
+    "Lift up the handheld bottle using the right arm, then shake.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Take the blue bottle using the right arm and give it a shake.",
+    "Grasp the blue bottle with label with the right arm and shake it.",
+    "Use the right arm to grab the bottle with blue cap and shake properly.",
+    "Grab the bottle for liquids with the right arm and shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Lift the blue bottle with the right arm and shake.",
+    "Shake the blue bottle with label after holding it firmly.",
+    "Use the right arm to hold the bottle with blue cap and shake it.",
+    "Shake the cylindrical bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick up the medium bottle for beverages and shake it well.",
+    "Grab the white bottle with blue accents firmly, shake it, and put it down.",
+    "Lift the handheld bottle and shake it gently.",
+    "Grab the white and blue bottle and shake it steadily.",
+    "Secure the white bottle with blue accents and perform a shake.",
+    "Grab and shake the blue bottle with label using the right arm.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Pick the cylindrical bottle and perform shaking motion.",
+    "Hold the blue bottle and shake it properly.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Grab the medium bottle for beverages carefully and shake."
+  ],
+  "unseen": [
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode4.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..22ba688a0d6537c6ce809ed8f52e76eda805a958
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle with ghost print with the right arm and shake.",
+    "Pick the plastic bottle with ghost print and perform shaking motion.",
+    "Pick the medium-sized plastic bottle up with the right arm and shake.",
+    "Lift the bottle with cute ghost drawing with the right arm and shake.",
+    "Pick the light gray colored container bottle up using the right arm and shake it.",
+    "Hold the smooth surface bottle with gray shade steady, then shake it.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Shake the plastic bottle with ghost print thoroughly after grabbing it.",
+    "Hold the bottle shaped like small cylinder, shake it briefly.",
+    "Use the right arm to lift and shake the gray bottle with slight shine.",
+    "Shake the bottle shaped like small cylinder firmly after grabbing.",
+    "Shake the plastic bottle with ghost print using the right arm after grabbing.",
+    "Pick up the milk-bottle shape design and shake it well.",
+    "Lift the bottle shaped like small cylinder with the right arm and give it a shake.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Grab the medium-sized plastic bottle carefully and shake.",
+    "With the right arm, pick the smooth cylindrical bottle and shake properly.",
+    "Hold the smooth surface bottle with gray shade and shake it properly.",
+    "Use the right arm to hold the medium-sized plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with cute ghost drawing and shake properly.",
+    "Lift the rounded body bottle made of plastic and shake it gently.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Secure the hand-sized bottle with screw cap, shake it, and place it down.",
+    "Secure the bottle with cute ghost drawing and perform a shake.",
+    "Catch the smooth cylindrical bottle and shake it instantly.",
+    "Lift the bottle with cute ghost drawing with the right arm and shake it.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Lift the gray bottle with slight shine and shake it thoroughly.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.",
+    "Shake the light gray colored container bottle after holding it firmly.",
+    "Pick the smooth cylindrical bottle, shake it with the right arm.",
+    "Grab the medium-sized plastic bottle and move it to shake.",
+    "Use the right arm to grab the smooth cylindrical bottle and shake it.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Using the right arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Use the right arm to pick and shake the gray bottle with slight shine.",
+    "Grab and shake the plastic bottle with ghost print using the right arm.",
+    "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.",
+    "Take the gray bottle with slight shine using the right arm and give it a shake.",
+    "Grip the medium-sized plastic bottle using the right arm and shake.",
+    "Grab the bottle shaped like small cylinder and give it a shake.",
+    "Lift up the medium-sized plastic bottle using the right arm, then shake.",
+    "Grab the milk-bottle shape design using the right arm, then shake.",
+    "Pick up the gray bottle with slight shine and shake it.",
+    "Hold and shake the the gray bottle with slight shine carefully.",
+    "Utilize the right arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Grasp the light gray colored container bottle with the right arm and shake it.",
+    "Grab the light gray colored container bottle with the right arm and shake.",
+    "Pick the medium-sized plastic bottle and perform shaking motion.",
+    "Pick the gray bottle with slight shine up with the right arm and shake.",
+    "Lift the rounded body bottle made of plastic with the right arm and shake.",
+    "Pick the bottle with cute ghost drawing up using the right arm and shake it.",
+    "Hold the milk-bottle shape design steady, then shake it.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "Hold the light gray colored container bottle, shake it briefly.",
+    "Use the right arm to lift and shake the light gray colored container bottle.",
+    "Shake the smooth surface bottle with gray shade firmly after grabbing.",
+    "Shake the bottle with cute ghost drawing using the right arm after grabbing.",
+    "Pick up the light gray colored container bottle and shake it well.",
+    "Lift the light gray colored container bottle with the right arm and give it a shake.",
+    "Shake the rounded body bottle made of plastic after lifting it.",
+    "Grab the bottle shaped like small cylinder carefully and shake.",
+    "With the right arm, pick the smooth surface bottle with gray shade and shake properly.",
+    "Hold the smooth cylindrical bottle and shake it properly.",
+    "Use the right arm to hold the plastic bottle with ghost print and shake it.",
+    "Use the right arm to grab the gray bottle with slight shine and shake properly.",
+    "Lift the bottle shaped like small cylinder and shake it gently.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Secure the rounded body bottle made of plastic, shake it, and place it down.",
+    "Secure the milk-bottle shape design and perform a shake.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Lift the light gray colored container bottle with the right arm and shake it.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Lift the milk-bottle shape design and shake it thoroughly.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.",
+    "Shake the rounded body bottle made of plastic after holding it firmly.",
+    "Pick the rounded body bottle made of plastic, shake it with the right arm.",
+    "Grab the gray bottle with slight shine and move it to shake.",
+    "Use the right arm to grab the light gray colored container bottle and shake it.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Using the right arm, shake the light gray colored container bottle and then place it back.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Grab the bottle shaped like small cylinder and shake it steadily.",
+    "Use the right arm to pick and shake the rounded body bottle made of plastic.",
+    "Grab and shake the smooth surface bottle with gray shade using the right arm.",
+    "Grab the hand-sized bottle with screw cap firmly, shake it, and put it down.",
+    "Take the hand-sized bottle with screw cap using the right arm and give it a shake.",
+    "Grip the medium cylinder-shaped bottle using the right arm and shake.",
+    "Grab the rounded body bottle made of plastic and give it a shake.",
+    "Lift up the milk-bottle shape design using the right arm, then shake.",
+    "Grab the smooth cylindrical bottle using the right arm, then shake.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Hold and shake the the smooth surface bottle with gray shade carefully.",
+    "Utilize the right arm to hold the light gray colored container bottle and shake it.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Grasp the bottle shaped like small cylinder with the right arm and shake it."
+  ],
+  "unseen": [
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the light gray bottle.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode5.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f4e2727cb283e9325a48db0fd0c89e80515b56
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the hand-sized bottle with screw cap and then place it back.",
+    "Hold the medium cylinder-shaped bottle with the right arm and shake lightly.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Lift up the milk-bottle shape design using the right arm, then shake.",
+    "Grab the gray bottle with slight shine and give it a shake.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.",
+    "Lift the milk-bottle shape design with the right arm and give it a shake.",
+    "Use the right arm to grab the light gray colored container bottle and shake properly.",
+    "Pick up the hand-sized bottle with screw cap and shake it.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Use the right arm to pick and shake the milk-bottle shape design.",
+    "Grab and shake the medium cylinder-shaped bottle using the right arm.",
+    "Grab the light gray colored container bottle and shake it steadily.",
+    "Grip the plastic bottle with ghost print using the right arm and shake.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Shake the medium-sized plastic bottle using the right arm after grabbing.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Lift the medium-sized plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the smooth surface bottle with gray shade.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake.",
+    "Grab the medium-sized plastic bottle carefully and shake.",
+    "Grab the rounded body bottle made of plastic and move it to shake.",
+    "Take the milk-bottle shape design using the right arm and give it a shake.",
+    "Grasp the rounded body bottle made of plastic with the right arm and shake it.",
+    "Lift the hand-sized bottle with screw cap and shake it thoroughly.",
+    "Pick the bottle with cute ghost drawing and perform shaking motion.",
+    "Shake the the medium-sized plastic bottle properly after lifting.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Pick the medium-sized plastic bottle up using the right arm and shake it.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Grab the bottle with cute ghost drawing with the right arm and shake.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Hold and shake the the medium-sized plastic bottle carefully.",
+    "Pick the milk-bottle shape design, shake it with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake it.",
+    "Pick the gray bottle with slight shine up with the right arm and shake.",
+    "Catch the bottle shaped like small cylinder and shake it instantly.",
+    "Grab the gray bottle with slight shine using the right arm, then shake.",
+    "Shake the gray bottle with slight shine after lifting it.",
+    "Shake the medium cylinder-shaped bottle firmly after grabbing.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "With the right arm, pick the medium cylinder-shaped bottle and shake properly.",
+    "Secure the bottle shaped like small cylinder, shake it, and place it down.",
+    "Hold the smooth surface bottle with gray shade and shake it properly.",
+    "Use the right arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Utilize the right arm to hold the medium-sized plastic bottle and shake it.",
+    "Hold the medium-sized plastic bottle steady, then shake it.",
+    "Use the right arm to lift and shake the smooth cylindrical bottle.",
+    "Using the right arm, shake the bottle with cute ghost drawing and then place it back.",
+    "Hold the milk-bottle shape design with the right arm and shake lightly.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Lift up the bottle with cute ghost drawing using the right arm, then shake.",
+    "Grab the hand-sized bottle with screw cap and give it a shake.",
+    "Lift the milk-bottle shape design and shake it gently.",
+    "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.",
+    "Lift the medium-sized plastic bottle with the right arm and give it a shake.",
+    "Use the right arm to grab the smooth cylindrical bottle and shake properly.",
+    "Pick up the bottle with cute ghost drawing and shake it.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Use the right arm to pick and shake the rounded body bottle made of plastic.",
+    "Grab and shake the gray bottle with slight shine using the right arm.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Grip the gray bottle with slight shine using the right arm and shake.",
+    "Shake the milk-bottle shape design after holding it firmly.",
+    "Shake the milk-bottle shape design using the right arm after grabbing.",
+    "Hold the gray bottle with slight shine, shake it briefly.",
+    "Lift the medium-sized plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle shaped like small cylinder.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake.",
+    "Grab the gray bottle with slight shine carefully and shake.",
+    "Grab the bottle shaped like small cylinder and move it to shake.",
+    "Take the hand-sized bottle with screw cap using the right arm and give it a shake.",
+    "Grasp the rounded body bottle made of plastic with the right arm and shake it.",
+    "Lift the smooth cylindrical bottle and shake it thoroughly.",
+    "Pick the smooth cylindrical bottle and perform shaking motion.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Pick the light gray colored container bottle up using the right arm and shake it.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Grab the light gray colored container bottle with the right arm and shake.",
+    "Secure the medium cylinder-shaped bottle and perform a shake.",
+    "Hold and shake the the medium cylinder-shaped bottle carefully.",
+    "Pick the rounded body bottle made of plastic, shake it with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake it.",
+    "Pick the bottle shaped like small cylinder up with the right arm and shake.",
+    "Catch the medium-sized plastic bottle and shake it instantly.",
+    "Grab the gray bottle with slight shine using the right arm, then shake.",
+    "Shake the bottle shaped like small cylinder after lifting it.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "Shake the medium-sized plastic bottle thoroughly after grabbing it.",
+    "With the right arm, pick the smooth surface bottle with gray shade and shake properly.",
+    "Secure the rounded body bottle made of plastic, shake it, and place it down.",
+    "Hold the bottle with cute ghost drawing and shake it properly.",
+    "Use the right arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Utilize the right arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Hold the milk-bottle shape design steady, then shake it.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle."
+  ],
+  "unseen": [
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode6.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..688851997fcb7f5ab5c016b239f4d5ecc8639528
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Take the bottle with ribbed orange bottom using the left arm and give it a shake.",
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the orange and white bottle with cap with the left arm and shake it.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Pick the medium bottle with orange lid and perform shaking motion.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Shake the medium bottle with orange lid firmly after grabbing.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Using the left arm, shake the medium orange bottle and then place it back.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Hold the drinking bottle with yellow label with the left arm and shake lightly.",
+    "Pick the drinking bottle with yellow label up using the left arm and shake it.",
+    "Shake the medium orange bottle using the left arm after grabbing.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Lift the white and orange plastic bottle with the left arm and give it a shake.",
+    "Grab the white and orange plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Lift the bottle with ribbed orange bottom and shake it gently.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the left arm to lift and shake the drinking bottle with yellow label.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Grab and shake the bottle with ribbed orange bottom using the left arm.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Pick up the medium orange bottle and shake it well.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Use the left arm to grab the drinking bottle with yellow label and shake properly.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Pick the bottle with ribbed orange bottom, shake it with the left arm.",
+    "Grasp the bottle with ribbed orange bottom with the left arm and shake it.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "With the left arm, pick the orange and white bottle with cap and shake properly.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Use the left arm to pick and shake the cylindrical orange and white bottle.",
+    "Grip the bottle with ribbed orange bottom using the left arm and shake.",
+    "Use the left arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Secure the yellow label bottle, shake it, and place it down.",
+    "Take the orange and white bottle with cap using the left arm and give it a shake.",
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Hold and shake the the cylindrical orange and white bottle carefully.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the cylindrical orange and white bottle after lifting it.",
+    "Lift the medium bottle with orange lid with the left arm and shake it.",
+    "Hold the bottle with ribbed orange bottom, shake it briefly.",
+    "Pick the yellow label bottle and perform shaking motion.",
+    "Use the left arm to lift and shake the medium orange bottle.",
+    "Shake the yellow label bottle firmly after grabbing.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Grab the white and orange plastic bottle and move it to shake.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Pick up the yellow label bottle and shake it.",
+    "Utilize the left arm to hold the yellow label bottle and shake it.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Use the left arm to lift and shake the cylindrical orange and white bottle.",
+    "Pick the bottle with orange cap up with the left arm and shake.",
+    "Hold the drinking bottle with yellow label with the left arm and shake lightly.",
+    "Pick the bottle with orange cap up using the left arm and shake it.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Lift the cylindrical orange and white bottle with the left arm and give it a shake.",
+    "Grab the bottle with orange cap with the left arm and shake.",
+    "Use the left arm to grab the cylindrical orange and white bottle and shake it.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Grab the medium orange bottle and shake it steadily.",
+    "Use the left arm to lift and shake the medium bottle with orange lid.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Lift up the white and orange plastic bottle using the left arm, then shake.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Pick the cylindrical orange and white bottle, shake it with the left arm.",
+    "Grasp the medium bottle with orange lid with the left arm and shake it.",
+    "Grab the bottle with ribbed orange bottom using the left arm, then shake.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Shake the the orange and white bottle with cap properly after lifting.",
+    "Use the left arm to pick and shake the medium orange bottle.",
+    "Grip the orange and white bottle with cap using the left arm and shake.",
+    "Use the left arm to hold the bottle with orange cap and shake it."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode7.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2051a806ff558612762a78806e29f2368b42d3c1
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with white neck and red top and shake it gently.",
+    "Grab the hand-sized soda bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the dark drink bottle with logo and shake it.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Use the right arm to grab the brown bottle with red label and shake properly.",
+    "Catch the narrow-necked bottle and shake it instantly.",
+    "With the right arm, pick the red-capped bottle and shake properly.",
+    "Hold the brown bottle with red label and shake it properly.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake it.",
+    "Shake the long thin bottle after grabbing it.",
+    "Hold the smooth bottle with red lid with the right arm and shake lightly.",
+    "Grab the smooth bottle with red lid with the right arm and shake.",
+    "Grab the dark drink bottle with logo carefully and shake.",
+    "Grip the Coca-Cola bottle using the right arm and shake.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Shake the brown bottle with red label using the right arm after grabbing.",
+    "Use the right arm to pick and shake the dark drink bottle with logo.",
+    "Pick the smooth bottle with red lid, shake it with the right arm.",
+    "Pick the hand-sized soda bottle up using the right arm and shake it.",
+    "Lift the narrow-necked bottle with the right arm and shake.",
+    "Shake the the plastic drink bottle properly after lifting.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Take the long thin bottle using the right arm and give it a shake.",
+    "Lift up the bottle with white neck and red top using the right arm, then shake.",
+    "Pick up the plastic drink bottle and shake it.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Lift the Coca-Cola bottle with the right arm and give it a shake.",
+    "Shake the Coca-Cola bottle after holding it firmly.",
+    "Shake the dark drink bottle with logo firmly after grabbing.",
+    "Grab the long thin bottle and give it a shake.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Using the right arm, shake the red-capped bottle and then place it back.",
+    "Pick the Coca-Cola bottle up with the right arm and shake.",
+    "Lift the medium dark brown bottle and shake it thoroughly.",
+    "Hold the Coca-Cola bottle, shake it briefly.",
+    "Shake the bottle with white neck and red top after lifting it.",
+    "Pick up the dark drink bottle with logo and shake it well.",
+    "Grab and shake the red-capped bottle using the right arm.",
+    "Shake the narrow-necked bottle thoroughly after grabbing it.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Use the right arm to hold the red-capped bottle and shake it.",
+    "Hold and shake the the smooth bottle with red lid carefully.",
+    "Use the right arm to lift and shake the smooth bottle with red lid.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Grasp the Coca-Cola bottle with the right arm and shake it.",
+    "Grab the bottle with white neck and red top and move it to shake.",
+    "Lift the medium dark brown bottle with the right arm and shake it.",
+    "Lift the bottle with white neck and red top and shake it gently.",
+    "Grab the hand-sized soda bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the smooth bottle with red lid and shake it.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Use the right arm to grab the brown bottle with red label and shake properly.",
+    "Catch the hand-sized soda bottle and shake it instantly.",
+    "With the right arm, pick the red-capped bottle and shake properly.",
+    "Hold the dark drink bottle with logo and shake it properly.",
+    "Hold the dark drink bottle with logo steady, then shake it.",
+    "Use the right arm to grab the smooth bottle with red lid and shake it.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Hold the medium dark brown bottle with the right arm and shake lightly.",
+    "Grab the bottle with ridges on bottom with the right arm and shake.",
+    "Grab the plastic drink bottle carefully and shake.",
+    "Grip the hand-sized soda bottle using the right arm and shake.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Shake the red-capped bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the long thin bottle.",
+    "Pick the bottle with white neck and red top, shake it with the right arm.",
+    "Pick the brown bottle with red label up using the right arm and shake it.",
+    "Lift the red-capped bottle with the right arm and shake.",
+    "Shake the the Coca-Cola bottle properly after lifting.",
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Take the bottle with white neck and red top using the right arm and give it a shake.",
+    "Lift up the Coca-Cola bottle using the right arm, then shake.",
+    "Pick up the long thin bottle and shake it.",
+    "Secure the long thin bottle, shake it, and place it down.",
+    "Lift the bottle with ridges on bottom with the right arm and give it a shake.",
+    "Shake the hand-sized soda bottle after holding it firmly.",
+    "Shake the long thin bottle firmly after grabbing.",
+    "Grab the red-capped bottle and give it a shake.",
+    "Use the right arm to lift and shake the smooth bottle with red lid.",
+    "Using the right arm, shake the plastic drink bottle and then place it back.",
+    "Pick the medium dark brown bottle up with the right arm and shake.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Shake the medium dark brown bottle after lifting it.",
+    "Pick up the Coca-Cola bottle and shake it well.",
+    "Grab and shake the long thin bottle using the right arm.",
+    "Shake the medium dark brown bottle thoroughly after grabbing it.",
+    "Grab the dark drink bottle with logo and shake it steadily.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Grab the dark drink bottle with logo using the right arm, then shake.",
+    "Use the right arm to hold the narrow-necked bottle and shake it.",
+    "Hold and shake the the smooth bottle with red lid carefully.",
+    "Use the right arm to lift and shake the hand-sized soda bottle.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Grasp the bottle with white neck and red top with the right arm and shake it.",
+    "Grab the bottle with white neck and red top and move it to shake.",
+    "Lift the brown bottle with red label with the right arm and shake it."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode8.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..647d4fe168096dd65915d11a90aca36f40ea7802
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the orange bottle and shake it thoroughly.",
+    "Grasp the medium orange bottle with the right arm and shake it.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Grip the bottle with orange cap using the right arm and shake.",
+    "Shake the cylindrical orange and white bottle after lifting it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Lift the drinking bottle with yellow label with the right arm and shake.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Grab the medium bottle with orange lid and give it a shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake properly.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "Using the right arm, shake the drinking bottle with yellow label and then place it back.",
+    "Pick the drinking bottle with yellow label, shake it with the right arm.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Catch the white and orange plastic bottle and shake it instantly.",
+    "Use the right arm to pick and shake the orange and white bottle with cap.",
+    "Grab the bottle with orange cap firmly, shake it, and put it down.",
+    "With the right arm, pick the white and orange plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Grab the bottle with orange cap with the right arm and shake.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Secure the drinking bottle with yellow label, shake it, and place it down.",
+    "Pick the orange and white bottle with cap and perform shaking motion.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Grab the bottle with orange cap and shake it steadily.",
+    "Grab the bottle with ribbed orange bottom carefully and shake.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Shake the medium bottle with orange lid firmly after grabbing.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Shake the the orange bottle properly after lifting.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the white and orange plastic bottle using the right arm after grabbing.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Hold the white and orange plastic bottle, shake it briefly.",
+    "Lift up the bottle with ribbed orange bottom using the right arm, then shake.",
+    "Pick the bottle with orange cap up with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the drinking bottle with yellow label and shake it thoroughly.",
+    "Grasp the bottle with orange cap with the right arm and shake it.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Grip the yellow label bottle using the right arm and shake.",
+    "Shake the bottle with orange cap after lifting it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Lift the smooth plastic bottle with the right arm and shake.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Use the right arm to grab the medium orange bottle and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the right arm to grab the medium bottle with orange lid and shake properly.",
+    "Grab and shake the white and orange plastic bottle using the right arm.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Use the right arm to hold the yellow label bottle and shake it.",
+    "Catch the orange bottle and shake it instantly.",
+    "Use the right arm to pick and shake the medium orange bottle.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "With the right arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Grab the drinking bottle with yellow label with the right arm and shake.",
+    "Pick the yellow label bottle up using the right arm and shake it.",
+    "Pick up the white and orange plastic bottle and shake it.",
+    "Secure the medium bottle with orange lid, shake it, and place it down.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Lift the medium bottle with orange lid with the right arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Shake the white and orange plastic bottle thoroughly after grabbing it.",
+    "Hold and shake the the white and orange plastic bottle carefully.",
+    "Take the cylindrical orange and white bottle using the right arm and give it a shake.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Shake the bottle with orange cap using the right arm after grabbing.",
+    "Hold the medium bottle with orange lid steady, then shake it.",
+    "Hold the bottle with ribbed orange bottom, shake it briefly.",
+    "Lift up the drinking bottle with yellow label using the right arm, then shake.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label."
+  ],
+  "unseen": [
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/instructions/episode9.json b/shake_bottle/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1696be2535579ca6df858f1ca7fcf68e291923
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the orange bottle with bold labeling after grabbing it.",
+    "Shake the the rounded orange bottle with yellow top properly after lifting.",
+    "Grab the small bottle with bright yellow lid using the left arm, then shake.",
+    "Hold the yellow-capped orange plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the rounded bottom orange plastic bottle.",
+    "Use the left arm to lift and shake the liquid container with orange body.",
+    "Shake the yellow-capped bottle for beverages firmly after grabbing.",
+    "Grasp the smooth orange cylindrical bottle with the left arm and shake it.",
+    "Using the left arm, shake the yellow-capped orange plastic bottle and then place it back.",
+    "Shake the smooth orange cylindrical bottle after grabbing it.",
+    "Lift the bottle with yellow cap with the left arm and shake it.",
+    "Shake the rounded bottom orange plastic bottle after holding it firmly.",
+    "Grab the handheld medium-sized liquid bottle with the left arm and shake.",
+    "Pick the yellow-capped bottle for beverages, shake it with the left arm.",
+    "Grab the orange bottle with bold labeling and give it a shake.",
+    "Lift the yellow-capped bottle for beverages with the left arm and shake.",
+    "Secure the small bottle with bright yellow lid and perform a shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Shake the handheld medium-sized liquid bottle after lifting it.",
+    "Grab the rounded bottom orange plastic bottle carefully and shake.",
+    "Hold the smooth orange cylindrical bottle and shake it properly.",
+    "Use the left arm to grab the handheld medium-sized liquid bottle and shake properly.",
+    "Grab the rounded bottom orange plastic bottle and move it to shake.",
+    "Grab and shake the small bottle with bright yellow lid using the left arm.",
+    "With the left arm, pick the smooth orange cylindrical bottle and shake properly.",
+    "Lift up the smooth orange cylindrical bottle using the left arm, then shake.",
+    "Hold the small bottle with bright yellow lid, shake it briefly.",
+    "Pick up the yellow-capped orange plastic bottle and shake it well.",
+    "Use the left arm to hold the orange bottle with bold labeling and shake it.",
+    "Grip the liquid container with orange body using the left arm and shake.",
+    "Use the left arm to pick and shake the cylindrical orange bottle with smooth surface.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Shake the rounded orange bottle with yellow top using the left arm after grabbing.",
+    "Lift the rounded orange bottle with yellow top and shake it gently.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Shake the cylindrical orange bottle with smooth surface after grabbing it.",
+    "Grab the orange bottle with bold labeling and shake it steadily.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Catch the orange bottle with bold labeling and shake it instantly.",
+    "Lift the rounded orange bottle with yellow top with the left arm and give it a shake.",
+    "Pick the smooth orange cylindrical bottle up with the left arm and shake.",
+    "Lift the orange bottle with bold labeling and shake it thoroughly.",
+    "Pick up the handheld medium-sized liquid bottle and shake it.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Pick the smooth orange cylindrical bottle up using the left arm and shake it.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Utilize the left arm to hold the smooth orange cylindrical bottle and shake it.",
+    "Shake the cylindrical orange bottle with smooth surface thoroughly after grabbing it.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "Grab the cylindrical orange bottle with smooth surface firmly, shake it, and put it down.",
+    "Shake the orange bottle with bold labeling after grabbing it.",
+    "Shake the the cylindrical orange bottle with smooth surface properly after lifting.",
+    "Grab the yellow-capped bottle for beverages using the left arm, then shake.",
+    "Hold the handheld medium-sized liquid bottle with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with smooth surface.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the yellow-capped orange plastic bottle firmly after grabbing.",
+    "Grasp the handheld medium-sized liquid bottle with the left arm and shake it.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Shake the yellow-capped orange plastic bottle after grabbing it.",
+    "Lift the cylindrical orange bottle with smooth surface with the left arm and shake it.",
+    "Shake the small bottle with bright yellow lid after holding it firmly.",
+    "Grab the small bottle with bright yellow lid with the left arm and shake.",
+    "Pick the handheld medium-sized liquid bottle, shake it with the left arm.",
+    "Grab the smooth orange cylindrical bottle and give it a shake.",
+    "Lift the yellow-capped bottle for beverages with the left arm and shake.",
+    "Secure the handheld medium-sized liquid bottle and perform a shake.",
+    "Hold the yellow-capped bottle for beverages steady, then shake it.",
+    "Shake the orange bottle after lifting it.",
+    "Grab the cylindrical orange bottle with smooth surface carefully and shake.",
+    "Hold the yellow-capped orange plastic bottle and shake it properly.",
+    "Use the left arm to grab the yellow-capped orange plastic bottle and shake properly.",
+    "Grab the rounded orange bottle with yellow top and move it to shake.",
+    "Grab and shake the orange bottle with bold labeling using the left arm.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Lift up the bottle with yellow cap using the left arm, then shake.",
+    "Hold the rounded orange bottle with yellow top, shake it briefly.",
+    "Pick up the orange bottle with bold labeling and shake it well.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Grip the smooth orange cylindrical bottle using the left arm and shake.",
+    "Use the left arm to pick and shake the yellow-capped bottle for beverages.",
+    "Pick the liquid container with orange body and perform shaking motion.",
+    "Shake the rounded orange bottle with yellow top using the left arm after grabbing.",
+    "Lift the liquid container with orange body and shake it gently.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab the cylindrical orange bottle with smooth surface and shake it steadily.",
+    "Use the left arm to lift and shake the handheld medium-sized liquid bottle.",
+    "Catch the rounded orange bottle with yellow top and shake it instantly.",
+    "Lift the handheld medium-sized liquid bottle with the left arm and give it a shake.",
+    "Pick the small bottle with bright yellow lid up with the left arm and shake.",
+    "Lift the rounded bottom orange plastic bottle and shake it thoroughly.",
+    "Pick up the small bottle with bright yellow lid and shake it.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Pick the orange bottle with bold labeling up using the left arm and shake it.",
+    "Secure the yellow-capped bottle for beverages, shake it, and place it down.",
+    "Utilize the left arm to hold the yellow-capped orange plastic bottle and shake it.",
+    "Shake the rounded bottom orange plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Grab the medium plastic bottle and give it a shake.",
+    "Grab the medium bottle for liquids, shake it properly, then set it down.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Pick up the plastic orange bottle with rounded base with the left arm and shake.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium plastic bottle and shake it.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Pick up the plastic orange bottle with rounded base with the left arm and shake.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Use the left arm to pick the medium bottle for liquids.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Pick up the plastic orange bottle with rounded base with the left arm and shake.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium plastic bottle and shake it.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Grab the medium bottle for liquids, shake it properly, then set it down.",
+    "Use the left arm to grab the medium bottle for liquids and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Grab the medium bottle for liquids, shake it properly, then set it down.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Shake the medium plastic bottle after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/scene_info.json b/shake_bottle/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2382b921ada71d34053672959bd58aab088fa488
--- /dev/null
+++ b/shake_bottle/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}": "001_bottle/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base15",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base14",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base5",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base13",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "001_bottle/base18",
+            "{a}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/shake_bottle/demo_clean_ep20_vidar/seed.txt b/shake_bottle/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8901e090c5bfda1937c91379de62b0c5f4b3a6c7
--- /dev/null
+++ b/shake_bottle/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+3 4 6 8 12 16 17 19 21 22 25 27 29 30 32 33 36 38 39 40 
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode0.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b454bf2093895948b21d19be3b3f7b2d9c19aff1
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms the left arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the left arm, the right arm, move them to the center, then stack them.",
+    "With the left arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the left arm, and the right arm, then stack them.",
+    "Place red block, green block, and blue block at the center, using the left arm, the left arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "With the left arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the left arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Using the left arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the left arm, and the right arm. Stack green block on red block.",
+    "Use the left arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Move red block, green block, and blue block to the center using the left arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use the left arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Using the left arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the left arm, the right arm.",
+    "Use arms the left arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the left arm, the right arm, move them to the center, then stack them.",
+    "With the left arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the left arm, and the right arm, then stack them.",
+    "Place red block, green block, and blue block at the center, using the left arm, the left arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "With the left arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the left arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Using the left arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the left arm, and the right arm. Stack green block on red block.",
+    "Use the left arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Move red block, green block, and blue block to the center using the left arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use the left arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Using the left arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the left arm, the right arm."
+  ],
+  "unseen": [
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode1.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef25836f348f24a2764e014430bdad990ecf815e
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block."
+  ],
+  "unseen": [
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode10.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..564d36698b7dcd3e931a454cfec4c951f3693ed8
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode11.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e3e76d0f7879050b5d13fdd23cf8ded823db2c
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them."
+  ],
+  "unseen": [
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode12.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fbc378a9ec9ae84524176f3237eb93e4036c14c
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block."
+  ],
+  "unseen": [
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode13.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..590804ae27d88bff5ac5b89668880242c96d44e2
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block."
+  ],
+  "unseen": [
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode14.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..2484022c128d1db272d2d7bebca72efa59f8981f
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode15.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..beff139d278a8651b53fe5ff8b8179bf12ca3337
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the left arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the left arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the left arm, the right arm.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Use the left arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the left arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the left arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the left arm, the right arm, move them to the center, then stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the left arm, and the right arm, then stack them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "With the left arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the left arm, and the right arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use arms the left arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Using the left arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the left arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the left arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the left arm, the right arm.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Use the left arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Using the left arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the left arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Use the left arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the left arm, the right arm, move them to the center, then stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the left arm, and the right arm, then stack them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "With the left arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the left arm, and the right arm. Stack green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use arms the left arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "Use the left arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Using the left arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "With the left arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode16.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f879510601e4754a39f81e95020d371bda53b3
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode17.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c4bc20e5adcde50ede6078e70f2517bd98b894
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode18.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..c207ae2b0a615667e02bd97d022e7a012a19dbce
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them."
+  ],
+  "unseen": [
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode19.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d4125c8fd710b99ea2e758529dcf31eabb63c9
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode2.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0c55d06244e29de520fa0ac41f9f84862ce737b
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the left arm, move them to the center, then stack them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the right arm, the left arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the left arm, then pile blue block on green block, green block on red block.",
+    "With the right arm, the left arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "With the right arm, the left arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the left arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the left arm, then stack them.",
+    "Use arms the right arm, the left arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "With the right arm, the left arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "With the right arm, the left arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the left arm.",
+    "Use the right arm, the left arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the left arm. Stack green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the left arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Using the right arm, the left arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block."
+  ],
+  "unseen": [
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode3.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a195fc0c821cdc83f167cc8278cf2c35b0008260
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode4.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb76a695e80b2d057a8506e57f6ef58e2d85b9a3
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the right arm, move them to the center, then stack them.",
+    "With the left arm, the right arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Use the left arm, the right arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the right arm. Stack green block on red block.",
+    "With the left arm, the right arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Using the left arm, the right arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the right arm, green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the left arm, the right arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Using the left arm, the right arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the right arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the right arm, then stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the left arm, the right arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the right arm.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the right arm, move them to the center, then stack them.",
+    "With the left arm, the right arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Use the left arm, the right arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the right arm. Stack green block on red block.",
+    "With the left arm, the right arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Using the left arm, the right arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the right arm, green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the left arm, the right arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Using the left arm, the right arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the right arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the right arm, then stack them.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the left arm, the right arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the right arm.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode5.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74748ed268f53b76f270c54e8cd1d5c9aaf2ca7
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the left arm, the right arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "With the left arm, the right arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "With the left arm, the right arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the right arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the right arm, move them to the center, then stack them.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the right arm.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Using the left arm, the right arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the left arm, the right arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "With the left arm, the right arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the right arm, green block on red block, blue block on green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the right arm, then stack them.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the left arm, the right arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the right arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Use the left arm, the right arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the left arm, the right arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "With the left arm, the right arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "With the left arm, the right arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "With the left arm, the right arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the right arm, and stack them with blue block on top.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Using the left arm, the right arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Use arms the left arm, the right arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the right arm, move them to the center, then stack them.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the right arm.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the right arm to stack blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Using the left arm, the right arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Use the left arm, the right arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "With the left arm, the right arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the right arm, green block on red block, blue block on green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the right arm, then stack them.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Use the left arm, the right arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the right arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Use the left arm, the right arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Use the left arm, the right arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode6.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea472a4e4dbbb99dff4947350d1fa387563b21c8
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block."
+  ],
+  "unseen": [
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode7.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63598ac3d0ccdab3627f7093c405a7024e204cb
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Using the right arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the right arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the right arm, move them to the center, then stack them.",
+    "With the right arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the right arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the right arm, then stack them.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the right arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the right arm. Stack green block on red block.",
+    "Use the right arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "With the right arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the right arm.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Use arms the right arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the right arm to stack blue block on green block and green block on red block.",
+    "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Using the right arm, the left arm, the right arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Use the right arm, the left arm, the right arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Shift red block, green block, and blue block to the center using the right arm, the left arm, the right arm, then pile blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the left arm, the right arm, and stack blue block on green block, green block on red block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Move red block, green block, and blue block to the center using the right arm, the left arm, the right arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the right arm, the left arm, the right arm, move them to the center, then stack them.",
+    "With the right arm, the left arm, the right arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the right arm, the left arm, and the right arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the left arm, and the right arm, then stack them.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Use the right arm, the left arm, and the right arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the right arm, the left arm, the right arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the left arm, and the right arm. Stack green block on red block.",
+    "Use the right arm, the left arm, and the right arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "With the right arm, the left arm, and the right arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the left arm, the right arm.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the left arm, and the right arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the left arm, the right arm to stack blue block on green block, green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the left arm, and the right arm, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the left arm, the right arm, green block on red block, blue block on green block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the left arm, and the right arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Use arms the right arm, the left arm, and the right arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the left arm, and the right arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the right arm, the left arm, and the right arm to move red block, green block, and blue block to the center and stack them.",
+    "Place red block, green block, and blue block at the center, using the right arm, the left arm, and the right arm to stack blue block on green block and green block on red block."
+  ],
+  "unseen": [
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode8.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e9e6e1ac4e2f861e85871b7d37eb5d2a63b2ea
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center with the left arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the left arm, the right arm, the left arm.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Use arms the left arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "With the left arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Relocate red block, green block, and blue block to the center with the left arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Shift red block, green block, and blue block to the center using the left arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Adjust red block, green block, blue block to the center and use the left arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "With the left arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the left arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Grab red block, green block, and blue block using the left arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the left arm, the right arm, and the left arm. Stack green block on red block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "Use the left arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Use the left arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Use the left arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Using the left arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, blue block in the middle and stack them using the left arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "With the left arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Use the left arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Use the left arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Place red block, green block, and blue block at the center, using the left arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the left arm, the right arm, and the left arm, then stack them.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "With the left arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Using the left arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block."
+  ],
+  "unseen": [
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode9.json b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..47dd4f756027adb2fed0302d4980824d6ad6f97b
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top.",
+    "Place red block, green block, and blue block at the center, using the right arm, the right arm, and the left arm to stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center using the right arm, the right arm, and the left arm. Stack green block on red block.",
+    "Place red block, green block, and blue block at the table's center; stack blue block over green block, then green block over red block.",
+    "Arrange red block, green block, and blue block in the table's center and stack blue block atop green block, then green block atop red block.",
+    "With the right arm, the right arm, and the left arm, move red block, green block, and blue block centrally and stack green block on red block.",
+    "Move red block, green block, and blue block to the center of the table using the right arm, the right arm, and the left arm, then stack them.",
+    "Transfer red block, green block, and blue block to the center with the right arm, the right arm, and the left arm, stacking blue block on green block and green block on red block.",
+    "With the right arm, the right arm, the left arm, move red block, green block, blue block to the center and stack green block on red block, blue block on green block.",
+    "Bring red block, green block, and blue block to the center and stack green block over red block, blue block over green block.",
+    "Use arms the right arm, the right arm, and the left arm to centralize red block, green block, blue block and stack blue block above green block, then green block above red block.",
+    "Move red block, green block, and blue block to the table's center and stack green block over red block, blue block over green block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, blue block to the center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, and blue block to the center using the right arm, the right arm, the left arm, then pile blue block on green block, green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center and stack them.",
+    "With the right arm, the right arm, and the left arm, shift red block, green block, and blue block to the center and arrange blue block over green block, green block on red block.",
+    "Place red block, green block, blue block in the middle and stack them using the right arm, the right arm, the left arm, green block on red block, blue block on green block.",
+    "Gather red block, green block, and blue block at the table's center and stack blue block on green block, then green block on red block.",
+    "Place red block, green block, and blue block at the center, then stack blue block onto green block and green block onto red block.",
+    "With the right arm, the right arm, the left arm, position red block, green block, blue block at the table's center and stack blue block on green block, green block on red block.",
+    "Shift red block, green block, blue block to the table's center, then stack blue block on green block, and green block on red block.",
+    "Place red block, green block, and blue block at the center and stack blue block on green block, then green block on red block.",
+    "Use the right arm, the right arm, and the left arm to move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Transfer red block, green block, and blue block to the center, arranging blue block on top of green block and green block on red block with the right arm, the right arm, the left arm.",
+    "Move red block, green block, and blue block to the middle first, then stack blue block on green block and green block on red block.",
+    "Using the right arm, the right arm, the left arm, place red block, green block, blue block centrally and stack blue block atop green block, then green block atop red block.",
+    "Grab red block, green block, and blue block using the right arm, the right arm, the left arm, move them to the center, then stack them.",
+    "Move red block, green block, and blue block to the center. Stack blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to centralize red block, green block, and blue block and build a stack with them.",
+    "Place red block, green block, and blue block in the center, then arrange green block on red block and blue block on green block.",
+    "Reposition red block, green block, and blue block to the middle and arrange blue block above green block and green block above red block.",
+    "Stack blue block over green block and green block over red block after moving all blocks to the center.",
+    "Position red block, green block, and blue block centrally. Place green block on red block, then set blue block on green block.",
+    "Bring red block, green block, and blue block to the center point and arrange them by stacking blue block atop green block and green block atop red block.",
+    "Using the right arm, the right arm, and the left arm, bring red block, green block, and blue block to the center and stack blue block on green block, green block on red block.",
+    "Centralize red block, green block, and blue block before stacking blue block on green block and green block on red block.",
+    "Use the right arm, the right arm, and the left arm to center red block, green block, and blue block, then stack blue block above green block and green block above red block.",
+    "Position red block, green block, and blue block in the center and stack blue block on green block, followed by green block on red block.",
+    "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block.",
+    "Use the right arm, the right arm, the left arm to place red block, green block, blue block at the center and stack them accordingly.",
+    "Center red block, green block, and blue block, then stack them with blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the center and stack blue block on green block and green block on red block.",
+    "Relocate red block, green block, and blue block to the table's center, stacking blue block over green block and green block over red block.",
+    "Adjust red block, green block, blue block to the center and use the right arm, the right arm, the left arm to stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block.",
+    "Bring red block, green block, and blue block to the middle. Stack green block onto red block and blue block onto green block.",
+    "Bring red block, green block, and blue block to the table's center and arrange them by stacking blue block over green block and green block over red block.",
+    "Reposition red block, green block, and blue block to the center, stacking green block on red block and blue block on green block.",
+    "Relocate red block, green block, and blue block to the center with the right arm, the right arm, the left arm, and stack blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center using the right arm, the right arm, the left arm, and stack them with blue block on top.",
+    "Use the right arm, the right arm, and the left arm to place red block, green block, and blue block in the center. Stack blue block on top."
+  ],
+  "unseen": [
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them.",
+    "Place red block, green block, and blue block at the table's center, then stack blue block on green block and green block on red block.",
+    "Bring red block, green block, and blue block to the center, stacking blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center of the table, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block, and green block on red block.",
+    "Bring red block, green block, blue block to the table's center and stack them: blue block on green block, green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack blue block on green block and green block on red block.",
+    "Move red block, green block, and blue block to the center, then stack green block over red block and blue block over green block.",
+    "Bring red block, green block, and blue block to the table's center. Stack green block on red block and blue block on green block.",
+    "Transfer red block, green block, and blue block to the middle, then stack blue block over green block and green block over red block.",
+    "Move red block, green block, and blue block to the table's center and stack them."
+  ]
+}
\ No newline at end of file
diff --git a/stack_blocks_three/demo_clean_ep20_vidar/scene_info.json b/stack_blocks_three/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa1d93e84c047d10eb01eea3c4c76c1d854a957
--- /dev/null
+++ b/stack_blocks_three/demo_clean_ep20_vidar/scene_info.json
@@ -0,0 +1,302 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    }
+}
\ No newline at end of file
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new file mode 100644
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\ No newline at end of file
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