Add files using upload-large-folder tool

grab_roller/demo_clean_ep20_vidar/instructions/episode0.json

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+{
+  "seen": [
+    "Grip the roller for smoothing materials firmly with arms.",
+    "Take the cylindrical roller with tapered ends directly from the table.",
+    "Get hold of the cylindrical roller with tapered ends using your arms",
+    "Take hold of the cylindrical roller with tapered ends with arms.",
+    "Pick up the wood roller using both arms.",
+    "Hold the wooden rolling tool on the table with hands.",
+    "Hold the medium-sized roller with both arms to pick it up",
+    "Hold the wood roller from the table.",
+    "Lift the roller with smooth and shiny texture with your arms.",
+    "Lift the roller with smooth and shiny texture off the table with both arms",
+    "Firmly grab the wood roller using arms.",
+    "Lift the cylindrical roller with tapered ends from its place on the table",
+    "Grab the medium roller with narrower tips directly from the table.",
+    "Grasp the wood roller firmly with arms.",
+    "Use both arms to grab the wood roller.",
+    "Lift the wood roller from the table carefully.",
+    "Pick up the roller with polished surface from the table directly.",
+    "Use arms to firmly grab the wood roller.",
+    "Grasp the roller with polished surface on the table with arms.",
+    "Pick up the wooden rolling tool using both arms equally",
+    "Take hold of the cylindrical roller with tapered ends using your arms.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Grab the medium roller with narrower tips placed on the table.",
+    "Take hold of the wood roller.",
+    "Hold the palm-length roller firmly from the table.",
+    "Use arms to hold the medium roller with narrower tips tightly.",
+    "Reach for the light brown wooden roller and hold it firmly",
+    "Use both arms to grip the palm-length roller tightly.",
+    "Pick up the roller with smooth and shiny texture from the table.",
+    "Place hands on the medium roller with narrower tips and lift.",
+    "Secure the palm-length roller using your arms.",
+    "Reach out to grab the light brown wooden roller from the table",
+    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
+    "Bring both arms to grab the cylindrical roller with tapered ends.",
+    "Lift the roller for smoothing materials from the table.",
+    "Take hold of the medium-sized roller with both arms.",
+    "Both arms should grab the medium roller with narrower tips now.",
+    "Grasp the roller with polished surface firmly from the table.",
+    "Secure the palm-length roller from the table using arms",
+    "Firmly grip the roller for smoothing materials on the table now.",
+    "Take both arms to grasp the light brown wooden roller.",
+    "Grasp the roller with smooth and shiny texture on the table.",
+    "Securely grab the light brown roller using both arms.",
+    "Secure the light brown roller with both arms.",
+    "Secure the roller with smooth and shiny texture on the table using arms.",
+    "Grip the wood roller firmly with arms.",
+    "Take the medium roller with narrower tips directly from the table.",
+    "Get hold of the roller with polished surface using your arms",
+    "Take hold of the roller for smoothing materials with arms.",
+    "Pick up the roller for smoothing materials using both arms.",
+    "Hold the light brown wooden roller on the table with hands.",
+    "Hold the roller with smooth and shiny texture with both arms to pick it up",
+    "Hold the light brown wooden roller from the table.",
+    "Lift the light brown roller with your arms.",
+    "Lift the roller with smooth and shiny texture off the table with both arms",
+    "Firmly grab the roller with polished surface using arms.",
+    "Lift the palm-length roller from its place on the table",
+    "Grab the medium roller with narrower tips directly from the table.",
+    "Grasp the wood roller firmly with arms.",
+    "Use both arms to grab the roller with smooth and shiny texture.",
+    "Lift the roller with polished surface from the table carefully.",
+    "Pick up the roller with polished surface from the table directly.",
+    "Use arms to firmly grab the roller for smoothing materials.",
+    "Grasp the solid wood roller on the table with arms.",
+    "Pick up the cylindrical roller with tapered ends using both arms equally",
+    "Take hold of the roller with smooth and shiny texture using your arms.",
+    "Lift the wood roller off the table with arms.",
+    "Grab the roller with polished surface placed on the table.",
+    "Take hold of the roller with smooth and shiny texture.",
+    "Hold the wooden rolling tool firmly from the table.",
+    "Use arms to hold the wood roller tightly.",
+    "Reach for the roller with polished surface and hold it firmly",
+    "Use both arms to grip the palm-length roller tightly.",
+    "Pick up the cylindrical roller with tapered ends from the table.",
+    "Place hands on the roller with smooth and shiny texture and lift.",
+    "Secure the medium roller with narrower tips using your arms.",
+    "Reach out to grab the cylindrical roller with tapered ends from the table",
+    "Reach for the solid wood roller and grab it firmly.",
+    "Bring both arms to grab the wood roller.",
+    "Lift the solid wood roller from the table.",
+    "Take hold of the solid wood roller with both arms.",
+    "Both arms should grab the roller with polished surface now.",
+    "Grasp the solid wood roller firmly from the table.",
+    "Secure the roller with smooth and shiny texture from the table using arms",
+    "Firmly grip the roller for smoothing materials on the table now.",
+    "Take both arms to grasp the light brown wooden roller.",
+    "Grasp the light brown roller on the table.",
+    "Securely grab the solid wood roller using both arms.",
+    "Secure the light brown roller with both arms.",
+    "Secure the roller for smoothing materials on the table using arms.",
+    "Grip the wooden rolling tool firmly with arms.",
+    "Take the medium-sized roller directly from the table.",
+    "Get hold of the cylindrical roller with tapered ends using your arms",
+    "Take hold of the roller for smoothing materials with arms.",
+    "Pick up the wooden rolling tool using both arms.",
+    "Hold the light brown wooden roller on the table with hands.",
+    "Hold the solid wood roller with both arms to pick it up",
+    "Hold the cylindrical roller with tapered ends from the table.",
+    "Lift the cylindrical roller with tapered ends with your arms.",
+    "Lift the cylindrical roller with tapered ends off the table with both arms"
+  ],
+  "unseen": [
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller with both arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode12.json

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+{
+  "seen": [
+    "Hold the cylindrical roller firmly from the table.",
+    "Take hold of the brown roller with both arms.",
+    "Grab the smooth light brown roller directly from the table.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Secure the smooth cylindrical roller with both arms.",
+    "Get hold of the slim wooden roller using your arms",
+    "Take both arms to grasp the smooth light brown roller.",
+    "Pick up the smooth light brown roller from the table.",
+    "Take hold of the brown roller with arms.",
+    "Place hands on the roller with smooth texture and lift.",
+    "Lift the cylindrical roller off the table with both arms",
+    "Secure the long slim roller from the table using arms",
+    "Both arms should grab the roller with smooth texture now.",
+    "Firmly grip the roller shaped like cylinder on the table now.",
+    "Grab the long slim roller placed on the table.",
+    "Hold the narrow tapered roller on the table with hands.",
+    "Reach for the smooth light brown roller and hold it firmly",
+    "Pick up the palm-sized roller from the table directly.",
+    "Take hold of the smooth cylindrical roller using your arms.",
+    "Reach out to grab the brown roller from the table",
+    "Take the roller with smooth texture directly from the table.",
+    "Grip the cylindrical roller firmly with arms.",
+    "Pick up the slim wooden roller using both arms equally",
+    "Lift the roller shaped like cylinder from its place on the table",
+    "Hold the slim wooden roller with both arms to pick it up",
+    "Use both arms to grab the roller for rolling.",
+    "Take hold of the roller shaped like cylinder.",
+    "Pick up the long slim roller using both arms.",
+    "Secure the smooth cylindrical roller using your arms.",
+    "Lift the palm-sized roller from the table carefully.",
+    "Bring both arms to grab the roller shaped like cylinder.",
+    "Lift the smooth cylindrical roller off the table with arms.",
+    "Use arms to hold the palm-sized roller tightly.",
+    "Grasp the cylindrical roller firmly from the table.",
+    "Reach for the light wood roller and grab it firmly.",
+    "Grasp the narrow tapered roller on the table.",
+    "Lift the smooth cylindrical roller with your arms.",
+    "Lift the smooth light brown roller from the table.",
+    "Grasp the narrow tapered roller on the table with arms.",
+    "Securely grab the roller shaped like cylinder using both arms.",
+    "Use both arms to grip the long slim roller tightly.",
+    "Grasp the slim wooden roller firmly with arms.",
+    "Hold the light wood roller from the table.",
+    "Firmly grab the light wood roller using arms.",
+    "Secure the brown roller on the table using arms.",
+    "Hold the roller with smooth texture firmly from the table.",
+    "Take hold of the long slim roller with both arms.",
+    "Grab the brown roller directly from the table.",
+    "Use arms to firmly grab the slim wooden roller.",
+    "Secure the long slim roller with both arms.",
+    "Get hold of the narrow tapered roller using your arms",
+    "Take both arms to grasp the palm-sized roller.",
+    "Pick up the narrow tapered roller from the table.",
+    "Take hold of the brown roller with arms.",
+    "Place hands on the narrow tapered roller and lift.",
+    "Lift the smooth light brown roller off the table with both arms",
+    "Secure the cylindrical roller from the table using arms",
+    "Both arms should grab the slim wooden roller now.",
+    "Firmly grip the brown roller on the table now.",
+    "Grab the roller for rolling placed on the table.",
+    "Hold the smooth light brown roller on the table with hands.",
+    "Reach for the roller with smooth texture and hold it firmly",
+    "Pick up the cylindrical roller from the table directly.",
+    "Take hold of the roller with smooth texture using your arms.",
+    "Reach out to grab the smooth cylindrical roller from the table",
+    "Take the brown roller directly from the table.",
+    "Grip the cylindrical roller firmly with arms.",
+    "Pick up the brown roller using both arms equally",
+    "Lift the roller for rolling from its place on the table",
+    "Hold the narrow tapered roller with both arms to pick it up",
+    "Use both arms to grab the slim wooden roller.",
+    "Take hold of the long slim roller.",
+    "Pick up the cylindrical roller using both arms.",
+    "Secure the slim wooden roller using your arms.",
+    "Lift the light wood roller from the table carefully.",
+    "Bring both arms to grab the smooth cylindrical roller.",
+    "Lift the palm-sized roller off the table with arms.",
+    "Use arms to hold the light wood roller tightly.",
+    "Grasp the narrow tapered roller firmly from the table.",
+    "Reach for the light wood roller and grab it firmly.",
+    "Grasp the roller shaped like cylinder on the table.",
+    "Lift the palm-sized roller with your arms.",
+    "Lift the roller with smooth texture from the table.",
+    "Grasp the smooth cylindrical roller on the table with arms.",
+    "Securely grab the smooth cylindrical roller using both arms.",
+    "Use both arms to grip the roller for rolling tightly.",
+    "Grasp the roller for rolling firmly with arms.",
+    "Hold the roller for rolling from the table.",
+    "Firmly grab the slim wooden roller using arms.",
+    "Secure the roller with smooth texture on the table using arms.",
+    "Hold the roller for rolling firmly from the table.",
+    "Take hold of the roller with smooth texture with both arms.",
+    "Grab the light wood roller directly from the table.",
+    "Use arms to firmly grab the roller with smooth texture.",
+    "Secure the brown roller with both arms.",
+    "Get hold of the roller with smooth texture using your arms",
+    "Take both arms to grasp the light wood roller.",
+    "Pick up the light wood roller from the table.",
+    "Take hold of the light wood roller with arms.",
+    "Place hands on the narrow tapered roller and lift."
+  ],
+  "unseen": [
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered ends.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the wooden roller on the table using arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Hold the wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the roller with tapered ends.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Reach and grab the wooden roller with both arms"
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the wooden rolling tool with your arms.",
+    "Firmly grab the medium-sized roller using arms.",
+    "Hold the light brown wooden roller firmly from the table.",
+    "Lift the medium roller with narrower tips from its place on the table",
+    "Use arms to firmly grab the roller with polished surface.",
+    "Firmly grip the wooden rolling tool on the table now.",
+    "Take the roller with polished surface directly from the table.",
+    "Lift the medium-sized roller off the table with both arms",
+    "Grab the light brown roller directly from the table.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Grip the medium-sized roller firmly with arms.",
+    "Securely grab the palm-length roller using both arms.",
+    "Use arms to hold the light brown wooden roller tightly.",
+    "Take hold of the wooden rolling tool with both arms.",
+    "Grasp the wood roller on the table with arms.",
+    "Pick up the light brown roller using both arms.",
+    "Take hold of the wood roller with arms.",
+    "Reach for the light brown roller and grab it firmly.",
+    "Pick up the palm-length roller from the table.",
+    "Lift the wood roller off the table with arms.",
+    "Reach out to grab the solid wood roller from the table",
+    "Secure the medium roller with narrower tips from the table using arms",
+    "Bring both arms to grab the cylindrical roller with tapered ends.",
+    "Lift the medium roller with narrower tips from the table.",
+    "Grasp the light brown wooden roller on the table.",
+    "Secure the light brown roller with both arms.",
+    "Grasp the roller with smooth and shiny texture firmly from the table.",
+    "Take hold of the wooden rolling tool.",
+    "Grab the medium roller with narrower tips placed on the table.",
+    "Pick up the cylindrical roller with tapered ends using both arms equally",
+    "Place hands on the solid wood roller and lift.",
+    "Take hold of the wood roller using your arms.",
+    "Both arms should grab the light brown wooden roller now.",
+    "Get hold of the roller with smooth and shiny texture using your arms",
+    "Take both arms to grasp the light brown roller.",
+    "Reach for the solid wood roller and hold it firmly",
+    "Secure the roller with smooth and shiny texture using your arms.",
+    "Hold the roller with polished surface with both arms to pick it up",
+    "Use both arms to grab the roller for smoothing materials.",
+    "Pick up the cylindrical roller with tapered ends from the table directly.",
+    "Grasp the roller with polished surface firmly with arms.",
+    "Hold the light brown wooden roller from the table.",
+    "Lift the wood roller from the table carefully.",
+    "Hold the medium-sized roller on the table with hands.",
+    "Secure the light brown roller on the table using arms.",
+    "Lift the wood roller with your arms.",
+    "Firmly grab the light brown roller using arms.",
+    "Hold the solid wood roller firmly from the table.",
+    "Lift the roller with polished surface from its place on the table",
+    "Use arms to firmly grab the light brown roller.",
+    "Firmly grip the solid wood roller on the table now.",
+    "Take the light brown wooden roller directly from the table.",
+    "Lift the wooden rolling tool off the table with both arms",
+    "Grab the medium roller with narrower tips directly from the table.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Grip the wood roller firmly with arms.",
+    "Securely grab the light brown roller using both arms.",
+    "Use arms to hold the medium-sized roller tightly.",
+    "Take hold of the roller with polished surface with both arms.",
+    "Grasp the light brown wooden roller on the table with arms.",
+    "Pick up the roller for smoothing materials using both arms.",
+    "Take hold of the solid wood roller with arms.",
+    "Reach for the roller for smoothing materials and grab it firmly.",
+    "Pick up the medium-sized roller from the table.",
+    "Lift the roller for smoothing materials off the table with arms.",
+    "Reach out to grab the roller for smoothing materials from the table",
+    "Secure the roller with polished surface from the table using arms",
+    "Bring both arms to grab the light brown wooden roller.",
+    "Lift the cylindrical roller with tapered ends from the table.",
+    "Grasp the medium roller with narrower tips on the table.",
+    "Secure the roller for smoothing materials with both arms.",
+    "Grasp the light brown roller firmly from the table.",
+    "Take hold of the roller with smooth and shiny texture.",
+    "Grab the roller with polished surface placed on the table.",
+    "Pick up the roller for smoothing materials using both arms equally",
+    "Place hands on the cylindrical roller with tapered ends and lift.",
+    "Take hold of the medium roller with narrower tips using your arms.",
+    "Both arms should grab the roller for smoothing materials now.",
+    "Get hold of the palm-length roller using your arms",
+    "Take both arms to grasp the wooden rolling tool.",
+    "Reach for the medium-sized roller and hold it firmly",
+    "Secure the wooden rolling tool using your arms.",
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Use both arms to grab the roller with polished surface.",
+    "Pick up the roller with polished surface from the table directly.",
+    "Grasp the solid wood roller firmly with arms.",
+    "Hold the roller for smoothing materials from the table.",
+    "Lift the wood roller from the table carefully.",
+    "Hold the cylindrical roller with tapered ends on the table with hands.",
+    "Secure the light brown wooden roller on the table using arms.",
+    "Lift the solid wood roller with your arms.",
+    "Firmly grab the palm-length roller using arms.",
+    "Hold the palm-length roller firmly from the table.",
+    "Lift the roller with polished surface from its place on the table",
+    "Use arms to firmly grab the roller for smoothing materials.",
+    "Firmly grip the roller for smoothing materials on the table now.",
+    "Take the roller with smooth and shiny texture directly from the table.",
+    "Lift the solid wood roller off the table with both arms",
+    "Grab the medium roller with narrower tips directly from the table.",
+    "Use both arms to grip the palm-length roller tightly."
+  ],
+  "unseen": [
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Hold the roller with tapered tips with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the roller with tapered tips with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the roller with tapered tips."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the cylindrical roller from the table.",
+    "Lift the palm-sized roller from the table carefully.",
+    "Pick up the roller for rolling from the table directly.",
+    "Take hold of the slim wooden roller with arms.",
+    "Pick up the light wood roller using both arms equally",
+    "Pick up the slim wooden roller from the table.",
+    "Lift the slim wooden roller from its place on the table",
+    "Firmly grab the light wood roller using arms.",
+    "Lift the slim wooden roller with your arms.",
+    "Pick up the roller shaped like cylinder using both arms.",
+    "Secure the smooth cylindrical roller using your arms.",
+    "Grasp the roller for rolling on the table with arms.",
+    "Grip the slim wooden roller firmly with arms.",
+    "Hold the light wood roller firmly from the table.",
+    "Secure the palm-sized roller from the table using arms",
+    "Firmly grip the roller shaped like cylinder on the table now.",
+    "Get hold of the smooth cylindrical roller using your arms",
+    "Secure the light wood roller with both arms.",
+    "Grasp the smooth light brown roller firmly with arms.",
+    "Take both arms to grasp the narrow tapered roller.",
+    "Grab the roller with smooth texture directly from the table.",
+    "Reach out to grab the smooth light brown roller from the table",
+    "Use both arms to grip the long slim roller tightly.",
+    "Take hold of the long slim roller with both arms.",
+    "Grasp the light wood roller firmly from the table.",
+    "Lift the smooth light brown roller off the table with arms.",
+    "Secure the smooth cylindrical roller on the table using arms.",
+    "Take hold of the smooth cylindrical roller.",
+    "Hold the roller for rolling with both arms to pick it up",
+    "Use both arms to grab the roller for rolling.",
+    "Lift the narrow tapered roller from the table.",
+    "Bring both arms to grab the long slim roller.",
+    "Reach for the narrow tapered roller and hold it firmly",
+    "Use arms to firmly grab the roller shaped like cylinder.",
+    "Hold the smooth cylindrical roller on the table with hands.",
+    "Both arms should grab the smooth light brown roller now.",
+    "Reach for the roller for rolling and grab it firmly.",
+    "Grasp the slim wooden roller on the table.",
+    "Securely grab the narrow tapered roller using both arms.",
+    "Take hold of the roller for rolling using your arms.",
+    "Use arms to hold the slim wooden roller tightly.",
+    "Take the roller with smooth texture directly from the table.",
+    "Lift the slim wooden roller off the table with both arms",
+    "Place hands on the light wood roller and lift.",
+    "Grab the smooth light brown roller placed on the table.",
+    "Hold the slim wooden roller from the table.",
+    "Lift the narrow tapered roller from the table carefully.",
+    "Pick up the roller shaped like cylinder from the table directly.",
+    "Take hold of the roller for rolling with arms.",
+    "Pick up the roller for rolling using both arms equally",
+    "Pick up the cylindrical roller from the table.",
+    "Lift the cylindrical roller from its place on the table",
+    "Firmly grab the brown roller using arms.",
+    "Lift the roller for rolling with your arms.",
+    "Pick up the smooth cylindrical roller using both arms.",
+    "Secure the long slim roller using your arms.",
+    "Grasp the roller shaped like cylinder on the table with arms.",
+    "Grip the smooth light brown roller firmly with arms.",
+    "Hold the roller shaped like cylinder firmly from the table.",
+    "Secure the long slim roller from the table using arms",
+    "Firmly grip the palm-sized roller on the table now.",
+    "Get hold of the long slim roller using your arms",
+    "Secure the roller for rolling with both arms.",
+    "Grasp the roller for rolling firmly with arms.",
+    "Take both arms to grasp the smooth light brown roller.",
+    "Grab the light wood roller directly from the table.",
+    "Reach out to grab the light wood roller from the table",
+    "Use both arms to grip the palm-sized roller tightly.",
+    "Take hold of the palm-sized roller with both arms.",
+    "Grasp the long slim roller firmly from the table.",
+    "Lift the narrow tapered roller off the table with arms.",
+    "Secure the smooth cylindrical roller on the table using arms.",
+    "Take hold of the narrow tapered roller.",
+    "Hold the slim wooden roller with both arms to pick it up",
+    "Use both arms to grab the roller for rolling.",
+    "Lift the cylindrical roller from the table.",
+    "Bring both arms to grab the slim wooden roller.",
+    "Reach for the roller with smooth texture and hold it firmly",
+    "Use arms to firmly grab the long slim roller.",
+    "Hold the roller for rolling on the table with hands.",
+    "Both arms should grab the light wood roller now.",
+    "Reach for the narrow tapered roller and grab it firmly.",
+    "Grasp the roller with smooth texture on the table.",
+    "Securely grab the brown roller using both arms.",
+    "Take hold of the smooth cylindrical roller using your arms.",
+    "Use arms to hold the slim wooden roller tightly.",
+    "Take the slim wooden roller directly from the table.",
+    "Lift the brown roller off the table with both arms",
+    "Place hands on the smooth light brown roller and lift.",
+    "Grab the smooth light brown roller placed on the table.",
+    "Hold the roller for rolling from the table.",
+    "Lift the roller with smooth texture from the table carefully.",
+    "Pick up the roller for rolling from the table directly.",
+    "Take hold of the light wood roller with arms.",
+    "Pick up the roller with smooth texture using both arms equally",
+    "Pick up the smooth cylindrical roller from the table.",
+    "Lift the narrow tapered roller from its place on the table",
+    "Firmly grab the slim wooden roller using arms.",
+    "Lift the roller with smooth texture with your arms.",
+    "Pick up the palm-sized roller using both arms."
+  ],
+  "unseen": [
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use arms to hold the light brown wooden roller tightly.",
+    "Take hold of the cylindrical roller with tapered ends using your arms.",
+    "Lift the light brown wooden roller off the table with arms.",
+    "Secure the medium roller with narrower tips on the table using arms.",
+    "Use arms to firmly grab the light brown wooden roller.",
+    "Reach out to grab the palm-length roller from the table",
+    "Lift the palm-length roller with your arms.",
+    "Secure the medium roller with narrower tips using your arms.",
+    "Secure the light brown wooden roller with both arms.",
+    "Grasp the wooden rolling tool firmly from the table.",
+    "Take hold of the medium roller with narrower tips.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Hold the wood roller firmly from the table.",
+    "Bring both arms to grab the wood roller.",
+    "Securely grab the cylindrical roller with tapered ends using both arms.",
+    "Take both arms to grasp the palm-length roller.",
+    "Reach for the roller for smoothing materials and grab it firmly.",
+    "Grasp the wooden rolling tool firmly with arms.",
+    "Lift the palm-length roller from the table carefully.",
+    "Pick up the roller for smoothing materials from the table.",
+    "Take the light brown roller directly from the table.",
+    "Place hands on the light brown wooden roller and lift.",
+    "Pick up the roller with polished surface from the table directly.",
+    "Use both arms to grab the roller with polished surface.",
+    "Reach for the medium roller with narrower tips and hold it firmly",
+    "Grip the palm-length roller firmly with arms.",
+    "Secure the medium-sized roller from the table using arms",
+    "Hold the roller with polished surface from the table.",
+    "Grasp the roller for smoothing materials on the table with arms.",
+    "Firmly grip the wooden rolling tool on the table now.",
+    "Grab the cylindrical roller with tapered ends directly from the table.",
+    "Lift the light brown wooden roller from the table.",
+    "Both arms should grab the light brown roller now.",
+    "Grab the solid wood roller placed on the table.",
+    "Grasp the wooden rolling tool on the table.",
+    "Take hold of the wood roller with both arms.",
+    "Lift the wood roller off the table with both arms",
+    "Hold the roller with smooth and shiny texture with both arms to pick it up",
+    "Get hold of the palm-length roller using your arms",
+    "Firmly grab the palm-length roller using arms.",
+    "Pick up the roller for smoothing materials using both arms equally",
+    "Take hold of the roller with smooth and shiny texture with arms.",
+    "Pick up the medium-sized roller using both arms.",
+    "Lift the roller for smoothing materials from its place on the table",
+    "Hold the medium roller with narrower tips on the table with hands.",
+    "Use arms to hold the palm-length roller tightly.",
+    "Take hold of the cylindrical roller with tapered ends using your arms.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Secure the cylindrical roller with tapered ends on the table using arms.",
+    "Use arms to firmly grab the solid wood roller.",
+    "Reach out to grab the medium-sized roller from the table",
+    "Lift the light brown roller with your arms.",
+    "Secure the roller with smooth and shiny texture using your arms.",
+    "Secure the cylindrical roller with tapered ends with both arms.",
+    "Grasp the light brown roller firmly from the table.",
+    "Take hold of the roller with polished surface.",
+    "Use both arms to grip the light brown wooden roller tightly.",
+    "Hold the medium-sized roller firmly from the table.",
+    "Bring both arms to grab the wood roller.",
+    "Securely grab the roller with polished surface using both arms.",
+    "Take both arms to grasp the roller with polished surface.",
+    "Reach for the roller with polished surface and grab it firmly.",
+    "Grasp the roller with smooth and shiny texture firmly with arms.",
+    "Lift the medium-sized roller from the table carefully.",
+    "Pick up the light brown wooden roller from the table.",
+    "Take the medium roller with narrower tips directly from the table.",
+    "Place hands on the palm-length roller and lift.",
+    "Pick up the wooden rolling tool from the table directly.",
+    "Use both arms to grab the medium-sized roller.",
+    "Reach for the roller with smooth and shiny texture and hold it firmly",
+    "Grip the roller with smooth and shiny texture firmly with arms.",
+    "Secure the light brown roller from the table using arms",
+    "Hold the solid wood roller from the table.",
+    "Grasp the wood roller on the table with arms.",
+    "Firmly grip the roller with polished surface on the table now.",
+    "Grab the wood roller directly from the table.",
+    "Lift the roller for smoothing materials from the table.",
+    "Both arms should grab the wooden rolling tool now.",
+    "Grab the light brown roller placed on the table.",
+    "Grasp the medium roller with narrower tips on the table.",
+    "Take hold of the roller for smoothing materials with both arms.",
+    "Lift the roller for smoothing materials off the table with both arms",
+    "Hold the medium roller with narrower tips with both arms to pick it up",
+    "Get hold of the light brown wooden roller using your arms",
+    "Firmly grab the palm-length roller using arms.",
+    "Pick up the roller for smoothing materials using both arms equally",
+    "Take hold of the light brown wooden roller with arms.",
+    "Pick up the wooden rolling tool using both arms.",
+    "Lift the cylindrical roller with tapered ends from its place on the table",
+    "Hold the roller with polished surface on the table with hands.",
+    "Use arms to hold the cylindrical roller with tapered ends tightly.",
+    "Take hold of the medium roller with narrower tips using your arms.",
+    "Lift the cylindrical roller with tapered ends off the table with arms.",
+    "Secure the roller for smoothing materials on the table using arms.",
+    "Use arms to firmly grab the roller with smooth and shiny texture.",
+    "Reach out to grab the wood roller from the table",
+    "Lift the solid wood roller with your arms.",
+    "Secure the roller for smoothing materials using your arms.",
+    "Secure the cylindrical roller with tapered ends with both arms.",
+    "Grasp the medium-sized roller firmly from the table."
+  ],
+  "unseen": [
+    "Grab the smooth wooden roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the smooth wooden roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the light brown wooden roller with both arms.",
+    "Grasp the solid wood roller firmly with arms.",
+    "Bring both arms to grab the light brown roller.",
+    "Pick up the roller for smoothing materials from the table directly.",
+    "Use arms to hold the wood roller tightly.",
+    "Use both arms to grip the light brown roller tightly.",
+    "Secure the solid wood roller using your arms.",
+    "Lift the wood roller from its place on the table",
+    "Grasp the roller with polished surface firmly from the table.",
+    "Lift the medium roller with narrower tips from the table.",
+    "Secure the palm-length roller from the table using arms",
+    "Grip the light brown roller firmly with arms.",
+    "Take both arms to grasp the light brown wooden roller.",
+    "Both arms should grab the wood roller now.",
+    "Lift the wood roller from the table carefully.",
+    "Pick up the wood roller using both arms.",
+    "Hold the light brown roller on the table with hands.",
+    "Take hold of the roller for smoothing materials with both arms.",
+    "Firmly grip the roller for smoothing materials on the table now.",
+    "Hold the roller for smoothing materials with both arms to pick it up",
+    "Use arms to firmly grab the roller for smoothing materials.",
+    "Take hold of the medium roller with narrower tips.",
+    "Place hands on the medium-sized roller and lift.",
+    "Lift the palm-length roller off the table with both arms",
+    "Secure the medium roller with narrower tips on the table using arms.",
+    "Use both arms to grab the wood roller.",
+    "Take the light brown wooden roller directly from the table.",
+    "Grab the roller for smoothing materials placed on the table.",
+    "Reach out to grab the medium-sized roller from the table",
+    "Get hold of the palm-length roller using your arms",
+    "Reach for the palm-length roller and hold it firmly",
+    "Lift the medium-sized roller with your arms.",
+    "Hold the cylindrical roller with tapered ends from the table.",
+    "Hold the roller for smoothing materials firmly from the table.",
+    "Lift the medium-sized roller off the table with arms.",
+    "Pick up the medium roller with narrower tips from the table.",
+    "Reach for the roller for smoothing materials and grab it firmly.",
+    "Securely grab the light brown roller using both arms.",
+    "Take hold of the solid wood roller with arms.",
+    "Take hold of the wooden rolling tool using your arms.",
+    "Grab the wood roller directly from the table.",
+    "Pick up the solid wood roller using both arms equally",
+    "Grasp the roller for smoothing materials on the table with arms.",
+    "Grasp the palm-length roller on the table.",
+    "Firmly grab the roller for smoothing materials using arms.",
+    "Secure the light brown roller with both arms.",
+    "Grasp the light brown roller firmly with arms.",
+    "Bring both arms to grab the roller for smoothing materials.",
+    "Pick up the cylindrical roller with tapered ends from the table directly.",
+    "Use arms to hold the wood roller tightly.",
+    "Use both arms to grip the roller for smoothing materials tightly.",
+    "Secure the palm-length roller using your arms.",
+    "Lift the medium-sized roller from its place on the table",
+    "Grasp the medium-sized roller firmly from the table.",
+    "Lift the wooden rolling tool from the table.",
+    "Secure the medium roller with narrower tips from the table using arms",
+    "Grip the solid wood roller firmly with arms.",
+    "Take both arms to grasp the medium-sized roller.",
+    "Both arms should grab the medium roller with narrower tips now.",
+    "Lift the medium roller with narrower tips from the table carefully.",
+    "Pick up the light brown wooden roller using both arms.",
+    "Hold the palm-length roller on the table with hands.",
+    "Take hold of the solid wood roller with both arms.",
+    "Firmly grip the cylindrical roller with tapered ends on the table now.",
+    "Hold the palm-length roller with both arms to pick it up",
+    "Use arms to firmly grab the solid wood roller.",
+    "Take hold of the palm-length roller.",
+    "Place hands on the wood roller and lift.",
+    "Lift the roller with polished surface off the table with both arms",
+    "Secure the medium roller with narrower tips on the table using arms.",
+    "Use both arms to grab the cylindrical roller with tapered ends.",
+    "Take the light brown roller directly from the table.",
+    "Grab the roller with polished surface placed on the table.",
+    "Reach out to grab the cylindrical roller with tapered ends from the table",
+    "Get hold of the medium-sized roller using your arms",
+    "Reach for the solid wood roller and hold it firmly",
+    "Lift the solid wood roller with your arms.",
+    "Hold the light brown roller from the table.",
+    "Hold the palm-length roller firmly from the table.",
+    "Lift the roller with polished surface off the table with arms.",
+    "Pick up the medium-sized roller from the table.",
+    "Reach for the light brown wooden roller and grab it firmly.",
+    "Securely grab the cylindrical roller with tapered ends using both arms.",
+    "Take hold of the light brown roller with arms.",
+    "Take hold of the roller with polished surface using your arms.",
+    "Grab the wood roller directly from the table.",
+    "Pick up the light brown wooden roller using both arms equally",
+    "Grasp the wooden rolling tool on the table with arms.",
+    "Grasp the cylindrical roller with tapered ends on the table.",
+    "Firmly grab the medium-sized roller using arms.",
+    "Secure the light brown roller with both arms.",
+    "Grasp the wooden rolling tool firmly with arms.",
+    "Bring both arms to grab the palm-length roller.",
+    "Pick up the light brown roller from the table directly.",
+    "Use arms to hold the light brown wooden roller tightly.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Secure the roller for smoothing materials using your arms.",
+    "Lift the roller with smooth and shiny texture from its place on the table",
+    "Grasp the solid wood roller firmly from the table.",
+    "Lift the solid wood roller from the table."
+  ],
+  "unseen": [
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller with both arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Hold the roller with tapered tips with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips with both arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Hold the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring both arms to grab the long slim roller.",
+    "Reach out to grab the narrow tapered roller from the table",
+    "Take hold of the long slim roller with both arms.",
+    "Pick up the smooth light brown roller from the table directly.",
+    "Grasp the roller shaped like cylinder on the table.",
+    "Use arms to firmly grab the cylindrical roller.",
+    "Reach for the brown roller and hold it firmly",
+    "Hold the long slim roller on the table with hands.",
+    "Take both arms to grasp the smooth light brown roller.",
+    "Secure the roller for rolling with both arms.",
+    "Get hold of the palm-sized roller using your arms",
+    "Secure the brown roller on the table using arms.",
+    "Pick up the smooth cylindrical roller using both arms equally",
+    "Grab the smooth cylindrical roller placed on the table.",
+    "Both arms should grab the brown roller now.",
+    "Firmly grab the cylindrical roller using arms.",
+    "Hold the long slim roller from the table.",
+    "Take hold of the cylindrical roller.",
+    "Take the narrow tapered roller directly from the table.",
+    "Pick up the light wood roller from the table.",
+    "Use arms to hold the narrow tapered roller tightly.",
+    "Pick up the narrow tapered roller using both arms.",
+    "Firmly grip the cylindrical roller on the table now.",
+    "Lift the roller shaped like cylinder from the table.",
+    "Take hold of the roller with smooth texture using your arms.",
+    "Place hands on the cylindrical roller and lift.",
+    "Lift the roller with smooth texture from its place on the table",
+    "Grab the slim wooden roller directly from the table.",
+    "Secure the light wood roller using your arms.",
+    "Hold the palm-sized roller firmly from the table.",
+    "Reach for the roller shaped like cylinder and grab it firmly.",
+    "Lift the brown roller off the table with arms.",
+    "Use both arms to grip the brown roller tightly.",
+    "Grasp the smooth light brown roller firmly with arms.",
+    "Securely grab the long slim roller using both arms.",
+    "Lift the roller shaped like cylinder from the table carefully.",
+    "Lift the cylindrical roller off the table with both arms",
+    "Hold the brown roller with both arms to pick it up",
+    "Secure the brown roller from the table using arms",
+    "Lift the roller for rolling with your arms.",
+    "Grasp the brown roller firmly from the table.",
+    "Take hold of the roller shaped like cylinder with arms.",
+    "Grip the palm-sized roller firmly with arms.",
+    "Grasp the brown roller on the table with arms.",
+    "Use both arms to grab the narrow tapered roller.",
+    "Bring both arms to grab the cylindrical roller.",
+    "Reach out to grab the roller for rolling from the table",
+    "Take hold of the roller shaped like cylinder with both arms.",
+    "Pick up the long slim roller from the table directly.",
+    "Grasp the narrow tapered roller on the table.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Reach for the roller with smooth texture and hold it firmly",
+    "Hold the roller with smooth texture on the table with hands.",
+    "Take both arms to grasp the smooth cylindrical roller.",
+    "Secure the roller for rolling with both arms.",
+    "Get hold of the palm-sized roller using your arms",
+    "Secure the roller with smooth texture on the table using arms.",
+    "Pick up the long slim roller using both arms equally",
+    "Grab the smooth cylindrical roller placed on the table.",
+    "Both arms should grab the roller shaped like cylinder now.",
+    "Firmly grab the roller with smooth texture using arms.",
+    "Hold the roller with smooth texture from the table.",
+    "Take hold of the brown roller.",
+    "Take the smooth cylindrical roller directly from the table.",
+    "Pick up the smooth light brown roller from the table.",
+    "Use arms to hold the brown roller tightly.",
+    "Pick up the smooth light brown roller using both arms.",
+    "Firmly grip the palm-sized roller on the table now.",
+    "Lift the roller for rolling from the table.",
+    "Take hold of the roller for rolling using your arms.",
+    "Place hands on the brown roller and lift.",
+    "Lift the smooth light brown roller from its place on the table",
+    "Grab the roller for rolling directly from the table.",
+    "Secure the cylindrical roller using your arms.",
+    "Hold the cylindrical roller firmly from the table.",
+    "Reach for the narrow tapered roller and grab it firmly.",
+    "Lift the smooth light brown roller off the table with arms.",
+    "Use both arms to grip the roller with smooth texture tightly.",
+    "Grasp the long slim roller firmly with arms.",
+    "Securely grab the smooth cylindrical roller using both arms.",
+    "Lift the palm-sized roller from the table carefully.",
+    "Lift the cylindrical roller off the table with both arms",
+    "Hold the slim wooden roller with both arms to pick it up",
+    "Secure the roller shaped like cylinder from the table using arms",
+    "Lift the brown roller with your arms.",
+    "Grasp the long slim roller firmly from the table.",
+    "Take hold of the roller shaped like cylinder with arms.",
+    "Grip the narrow tapered roller firmly with arms.",
+    "Grasp the smooth light brown roller on the table with arms.",
+    "Use both arms to grab the roller with smooth texture.",
+    "Bring both arms to grab the brown roller.",
+    "Reach out to grab the light wood roller from the table",
+    "Take hold of the cylindrical roller with both arms.",
+    "Pick up the roller shaped like cylinder from the table directly.",
+    "Grasp the palm-sized roller on the table.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Reach for the slim wooden roller and hold it firmly",
+    "Hold the narrow tapered roller on the table with hands.",
+    "Take both arms to grasp the roller with smooth texture.",
+    "Secure the brown roller with both arms."
+  ],
+  "unseen": [
+    "Grab the wooden roller on the table.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the wooden roller on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the wooden roller on the table using arms",
+    "Use arms to grab the wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the light brown wooden roller."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the roller with smooth texture on the table using arms.",
+    "Grasp the roller for rolling on the table with arms.",
+    "Hold the brown roller from the table.",
+    "Take hold of the brown roller with both arms.",
+    "Lift the long slim roller off the table with arms.",
+    "Use arms to firmly grab the narrow tapered roller.",
+    "Firmly grip the slim wooden roller on the table now.",
+    "Hold the smooth cylindrical roller on the table with hands.",
+    "Pick up the long slim roller using both arms.",
+    "Take hold of the narrow tapered roller.",
+    "Lift the slim wooden roller from the table.",
+    "Take hold of the roller shaped like cylinder with arms.",
+    "Lift the roller with smooth texture from the table carefully.",
+    "Grab the roller for rolling directly from the table.",
+    "Grasp the slim wooden roller firmly with arms.",
+    "Lift the palm-sized roller off the table with both arms",
+    "Secure the slim wooden roller from the table using arms",
+    "Take both arms to grasp the long slim roller.",
+    "Use both arms to grab the light wood roller.",
+    "Pick up the long slim roller using both arms equally",
+    "Pick up the roller shaped like cylinder from the table.",
+    "Reach for the narrow tapered roller and hold it firmly",
+    "Pick up the cylindrical roller from the table directly.",
+    "Firmly grab the cylindrical roller using arms.",
+    "Grip the roller for rolling firmly with arms.",
+    "Securely grab the narrow tapered roller using both arms.",
+    "Hold the cylindrical roller firmly from the table.",
+    "Secure the cylindrical roller with both arms.",
+    "Lift the palm-sized roller with your arms.",
+    "Hold the roller with smooth texture with both arms to pick it up",
+    "Secure the light wood roller using your arms.",
+    "Reach out to grab the smooth cylindrical roller from the table",
+    "Use both arms to grip the brown roller tightly.",
+    "Use arms to hold the long slim roller tightly.",
+    "Grasp the smooth cylindrical roller firmly from the table.",
+    "Lift the slim wooden roller from its place on the table",
+    "Grab the long slim roller placed on the table.",
+    "Take hold of the roller shaped like cylinder using your arms.",
+    "Take the smooth cylindrical roller directly from the table.",
+    "Grasp the palm-sized roller on the table.",
+    "Get hold of the slim wooden roller using your arms",
+    "Place hands on the narrow tapered roller and lift.",
+    "Both arms should grab the cylindrical roller now.",
+    "Bring both arms to grab the narrow tapered roller.",
+    "Reach for the roller for rolling and grab it firmly.",
+    "Secure the smooth light brown roller on the table using arms.",
+    "Grasp the palm-sized roller on the table with arms.",
+    "Hold the brown roller from the table.",
+    "Take hold of the cylindrical roller with both arms.",
+    "Lift the roller shaped like cylinder off the table with arms.",
+    "Use arms to firmly grab the brown roller.",
+    "Firmly grip the long slim roller on the table now.",
+    "Hold the roller with smooth texture on the table with hands.",
+    "Pick up the smooth light brown roller using both arms.",
+    "Take hold of the palm-sized roller.",
+    "Lift the slim wooden roller from the table.",
+    "Take hold of the long slim roller with arms.",
+    "Lift the narrow tapered roller from the table carefully.",
+    "Grab the long slim roller directly from the table.",
+    "Grasp the long slim roller firmly with arms.",
+    "Lift the long slim roller off the table with both arms",
+    "Secure the smooth light brown roller from the table using arms",
+    "Take both arms to grasp the narrow tapered roller.",
+    "Use both arms to grab the narrow tapered roller.",
+    "Pick up the brown roller using both arms equally",
+    "Pick up the roller with smooth texture from the table.",
+    "Reach for the narrow tapered roller and hold it firmly",
+    "Pick up the roller with smooth texture from the table directly.",
+    "Firmly grab the light wood roller using arms.",
+    "Grip the smooth light brown roller firmly with arms.",
+    "Securely grab the roller shaped like cylinder using both arms.",
+    "Hold the smooth light brown roller firmly from the table.",
+    "Secure the roller with smooth texture with both arms.",
+    "Lift the roller for rolling with your arms.",
+    "Hold the roller with smooth texture with both arms to pick it up",
+    "Secure the brown roller using your arms.",
+    "Reach out to grab the light wood roller from the table",
+    "Use both arms to grip the smooth cylindrical roller tightly.",
+    "Use arms to hold the roller shaped like cylinder tightly.",
+    "Grasp the slim wooden roller firmly from the table.",
+    "Lift the cylindrical roller from its place on the table",
+    "Grab the roller for rolling placed on the table.",
+    "Take hold of the brown roller using your arms.",
+    "Take the cylindrical roller directly from the table.",
+    "Grasp the long slim roller on the table.",
+    "Get hold of the smooth light brown roller using your arms",
+    "Place hands on the palm-sized roller and lift.",
+    "Both arms should grab the smooth light brown roller now.",
+    "Bring both arms to grab the roller shaped like cylinder.",
+    "Reach for the cylindrical roller and grab it firmly.",
+    "Secure the narrow tapered roller on the table using arms.",
+    "Grasp the slim wooden roller on the table with arms.",
+    "Hold the roller with smooth texture from the table.",
+    "Take hold of the smooth cylindrical roller with both arms.",
+    "Lift the smooth light brown roller off the table with arms.",
+    "Use arms to firmly grab the smooth cylindrical roller.",
+    "Firmly grip the light wood roller on the table now.",
+    "Hold the cylindrical roller on the table with hands.",
+    "Pick up the palm-sized roller using both arms.",
+    "Take hold of the cylindrical roller."
+  ],
+  "unseen": [
+    "Grab the wooden roller on the table with arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Grab the wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the wood roller using both arms.",
+    "Pick up the roller for smoothing materials from the table directly.",
+    "Secure the medium-sized roller using your arms.",
+    "Firmly grab the roller with smooth and shiny texture using arms.",
+    "Lift the solid wood roller from the table carefully.",
+    "Lift the cylindrical roller with tapered ends from its place on the table",
+    "Secure the solid wood roller with both arms.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Hold the cylindrical roller with tapered ends from the table.",
+    "Firmly grip the palm-length roller on the table now.",
+    "Both arms should grab the roller for smoothing materials now.",
+    "Take both arms to grasp the roller with polished surface.",
+    "Grab the roller with polished surface directly from the table.",
+    "Secure the roller with smooth and shiny texture from the table using arms",
+    "Secure the roller for smoothing materials on the table using arms.",
+    "Take hold of the light brown wooden roller with both arms.",
+    "Take hold of the light brown roller using your arms.",
+    "Grip the medium roller with narrower tips firmly with arms.",
+    "Place hands on the roller with polished surface and lift.",
+    "Hold the medium roller with narrower tips firmly from the table.",
+    "Grasp the wood roller firmly with arms.",
+    "Lift the palm-length roller off the table with both arms",
+    "Get hold of the medium-sized roller using your arms",
+    "Pick up the roller with polished surface from the table.",
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Use arms to firmly grab the wood roller.",
+    "Take hold of the light brown roller with arms.",
+    "Securely grab the medium roller with narrower tips using both arms.",
+    "Grasp the roller with smooth and shiny texture on the table.",
+    "Grab the roller with smooth and shiny texture placed on the table.",
+    "Use both arms to grab the medium-sized roller.",
+    "Take hold of the roller with smooth and shiny texture.",
+    "Pick up the palm-length roller using both arms equally",
+    "Reach out to grab the solid wood roller from the table",
+    "Grasp the light brown wooden roller on the table with arms.",
+    "Lift the wood roller from the table.",
+    "Bring both arms to grab the roller with polished surface.",
+    "Lift the light brown roller with your arms.",
+    "Take the roller with smooth and shiny texture directly from the table.",
+    "Reach for the roller for smoothing materials and grab it firmly.",
+    "Use both arms to grip the light brown roller tightly.",
+    "Reach for the wooden rolling tool and hold it firmly",
+    "Use arms to hold the palm-length roller tightly.",
+    "Grasp the roller for smoothing materials firmly from the table.",
+    "Hold the solid wood roller on the table with hands.",
+    "Pick up the palm-length roller using both arms.",
+    "Pick up the cylindrical roller with tapered ends from the table directly.",
+    "Secure the light brown wooden roller using your arms.",
+    "Firmly grab the palm-length roller using arms.",
+    "Lift the solid wood roller from the table carefully.",
+    "Lift the medium-sized roller from its place on the table",
+    "Secure the solid wood roller with both arms.",
+    "Lift the cylindrical roller with tapered ends off the table with arms.",
+    "Hold the light brown roller from the table.",
+    "Firmly grip the medium roller with narrower tips on the table now.",
+    "Both arms should grab the roller with polished surface now.",
+    "Take both arms to grasp the light brown wooden roller.",
+    "Grab the solid wood roller directly from the table.",
+    "Secure the palm-length roller from the table using arms",
+    "Secure the light brown wooden roller on the table using arms.",
+    "Take hold of the light brown roller with both arms.",
+    "Take hold of the cylindrical roller with tapered ends using your arms.",
+    "Grip the roller with polished surface firmly with arms.",
+    "Place hands on the medium roller with narrower tips and lift.",
+    "Hold the palm-length roller firmly from the table.",
+    "Grasp the cylindrical roller with tapered ends firmly with arms.",
+    "Lift the wooden rolling tool off the table with both arms",
+    "Get hold of the wood roller using your arms",
+    "Pick up the cylindrical roller with tapered ends from the table.",
+    "Hold the roller for smoothing materials with both arms to pick it up",
+    "Use arms to firmly grab the cylindrical roller with tapered ends.",
+    "Take hold of the medium-sized roller with arms.",
+    "Securely grab the solid wood roller using both arms.",
+    "Grasp the palm-length roller on the table.",
+    "Grab the wooden rolling tool placed on the table.",
+    "Use both arms to grab the wooden rolling tool.",
+    "Take hold of the medium roller with narrower tips.",
+    "Pick up the roller with smooth and shiny texture using both arms equally",
+    "Reach out to grab the roller for smoothing materials from the table",
+    "Grasp the medium roller with narrower tips on the table with arms.",
+    "Lift the light brown wooden roller from the table.",
+    "Bring both arms to grab the roller with polished surface.",
+    "Lift the palm-length roller with your arms.",
+    "Take the palm-length roller directly from the table.",
+    "Reach for the palm-length roller and grab it firmly.",
+    "Use both arms to grip the light brown roller tightly.",
+    "Reach for the cylindrical roller with tapered ends and hold it firmly",
+    "Use arms to hold the light brown wooden roller tightly.",
+    "Grasp the roller with polished surface firmly from the table.",
+    "Hold the wooden rolling tool on the table with hands.",
+    "Pick up the light brown wooden roller using both arms.",
+    "Pick up the solid wood roller from the table directly.",
+    "Secure the light brown roller using your arms.",
+    "Firmly grab the medium-sized roller using arms.",
+    "Lift the medium-sized roller from the table carefully.",
+    "Lift the light brown wooden roller from its place on the table",
+    "Secure the light brown roller with both arms.",
+    "Lift the roller with polished surface off the table with arms.",
+    "Hold the cylindrical roller with tapered ends from the table.",
+    "Firmly grip the roller with smooth and shiny texture on the table now."
+  ],
+  "unseen": [
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the roller with tapered tips on the table using arms"
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the cylindrical roller with tapered ends with both arms.",
+    "Pick up the light brown wooden roller from the table.",
+    "Securely grab the roller with polished surface using both arms.",
+    "Secure the solid wood roller using your arms.",
+    "Get hold of the light brown roller using your arms",
+    "Secure the roller for smoothing materials on the table using arms.",
+    "Grip the light brown wooden roller firmly with arms.",
+    "Take hold of the cylindrical roller with tapered ends with arms.",
+    "Hold the cylindrical roller with tapered ends from the table.",
+    "Grab the roller with smooth and shiny texture placed on the table.",
+    "Bring both arms to grab the wood roller.",
+    "Secure the roller with smooth and shiny texture with both arms.",
+    "Grasp the roller with polished surface on the table with arms.",
+    "Reach out to grab the solid wood roller from the table",
+    "Use arms to hold the roller with smooth and shiny texture tightly.",
+    "Take hold of the medium-sized roller using your arms.",
+    "Take both arms to grasp the wooden rolling tool.",
+    "Hold the light brown roller on the table with hands.",
+    "Hold the roller with polished surface with both arms to pick it up",
+    "Lift the wooden rolling tool from the table.",
+    "Firmly grab the medium-sized roller using arms.",
+    "Firmly grip the roller with smooth and shiny texture on the table now.",
+    "Take the cylindrical roller with tapered ends directly from the table.",
+    "Take hold of the medium-sized roller.",
+    "Lift the roller for smoothing materials from the table carefully.",
+    "Reach for the solid wood roller and grab it firmly.",
+    "Pick up the wood roller from the table directly.",
+    "Use both arms to grab the medium roller with narrower tips.",
+    "Lift the solid wood roller off the table with arms.",
+    "Pick up the roller with smooth and shiny texture using both arms.",
+    "Grasp the cylindrical roller with tapered ends on the table.",
+    "Grasp the cylindrical roller with tapered ends firmly with arms.",
+    "Grab the roller for smoothing materials directly from the table.",
+    "Secure the palm-length roller from the table using arms",
+    "Hold the wood roller firmly from the table.",
+    "Grasp the medium-sized roller firmly from the table.",
+    "Lift the roller with smooth and shiny texture with your arms.",
+    "Use arms to firmly grab the wood roller.",
+    "Use both arms to grip the wooden rolling tool tightly.",
+    "Reach for the medium roller with narrower tips and hold it firmly",
+    "Place hands on the cylindrical roller with tapered ends and lift.",
+    "Both arms should grab the roller with smooth and shiny texture now.",
+    "Pick up the light brown wooden roller using both arms equally",
+    "Lift the medium roller with narrower tips from its place on the table",
+    "Lift the solid wood roller off the table with both arms",
+    "Take hold of the wood roller with both arms.",
+    "Pick up the light brown roller from the table.",
+    "Securely grab the light brown roller using both arms.",
+    "Secure the roller with smooth and shiny texture using your arms.",
+    "Get hold of the roller for smoothing materials using your arms",
+    "Secure the wood roller on the table using arms.",
+    "Grip the medium roller with narrower tips firmly with arms.",
+    "Take hold of the light brown roller with arms.",
+    "Hold the light brown wooden roller from the table.",
+    "Grab the roller with smooth and shiny texture placed on the table.",
+    "Bring both arms to grab the medium-sized roller.",
+    "Secure the medium-sized roller with both arms.",
+    "Grasp the wooden rolling tool on the table with arms.",
+    "Reach out to grab the roller with smooth and shiny texture from the table",
+    "Use arms to hold the roller with polished surface tightly.",
+    "Take hold of the medium roller with narrower tips using your arms.",
+    "Take both arms to grasp the light brown roller.",
+    "Hold the wood roller on the table with hands.",
+    "Hold the cylindrical roller with tapered ends with both arms to pick it up",
+    "Lift the medium roller with narrower tips from the table.",
+    "Firmly grab the roller with polished surface using arms.",
+    "Firmly grip the medium roller with narrower tips on the table now.",
+    "Take the light brown roller directly from the table.",
+    "Take hold of the palm-length roller.",
+    "Lift the cylindrical roller with tapered ends from the table carefully.",
+    "Reach for the medium roller with narrower tips and grab it firmly.",
+    "Pick up the palm-length roller from the table directly.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Lift the wooden rolling tool off the table with arms.",
+    "Pick up the light brown roller using both arms.",
+    "Grasp the wooden rolling tool on the table.",
+    "Grasp the wood roller firmly with arms.",
+    "Grab the roller for smoothing materials directly from the table.",
+    "Secure the medium roller with narrower tips from the table using arms",
+    "Hold the roller for smoothing materials firmly from the table.",
+    "Grasp the roller for smoothing materials firmly from the table.",
+    "Lift the medium-sized roller with your arms.",
+    "Use arms to firmly grab the wood roller.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Reach for the palm-length roller and hold it firmly",
+    "Place hands on the medium roller with narrower tips and lift.",
+    "Both arms should grab the light brown roller now.",
+    "Pick up the medium roller with narrower tips using both arms equally",
+    "Lift the roller for smoothing materials from its place on the table",
+    "Lift the cylindrical roller with tapered ends off the table with both arms",
+    "Take hold of the roller for smoothing materials with both arms.",
+    "Pick up the light brown wooden roller from the table.",
+    "Securely grab the roller with polished surface using both arms.",
+    "Secure the light brown wooden roller using your arms.",
+    "Get hold of the wood roller using your arms",
+    "Secure the roller with smooth and shiny texture on the table using arms.",
+    "Grip the palm-length roller firmly with arms.",
+    "Take hold of the roller with smooth and shiny texture with arms.",
+    "Hold the roller with smooth and shiny texture from the table.",
+    "Grab the medium roller with narrower tips placed on the table."
+  ],
+  "unseen": [
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the smooth wooden roller.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the smooth wooden roller.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use arms to grab the roller with tapered tips.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Hold the roller with tapered tips with both arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take hold of the roller with polished surface with both arms.",
+    "Lift the roller for smoothing materials with your arms.",
+    "Lift the light brown roller from the table carefully.",
+    "Grasp the wood roller firmly with arms.",
+    "Secure the light brown roller on the table using arms.",
+    "Hold the light brown wooden roller from the table.",
+    "Hold the wooden rolling tool firmly from the table.",
+    "Grip the roller with polished surface firmly with arms.",
+    "Reach for the medium roller with narrower tips and hold it firmly",
+    "Pick up the medium roller with narrower tips from the table directly.",
+    "Place hands on the medium roller with narrower tips and lift.",
+    "Take hold of the wooden rolling tool using your arms.",
+    "Lift the palm-length roller from its place on the table",
+    "Take the roller for smoothing materials directly from the table.",
+    "Secure the cylindrical roller with tapered ends with both arms.",
+    "Grab the solid wood roller placed on the table.",
+    "Securely grab the medium roller with narrower tips using both arms.",
+    "Firmly grab the roller with smooth and shiny texture using arms.",
+    "Grasp the roller with smooth and shiny texture on the table with arms.",
+    "Take both arms to grasp the wooden rolling tool.",
+    "Hold the medium-sized roller on the table with hands.",
+    "Reach out to grab the palm-length roller from the table",
+    "Reach for the wood roller and grab it firmly.",
+    "Lift the roller with polished surface off the table with both arms",
+    "Grasp the medium-sized roller on the table.",
+    "Secure the medium roller with narrower tips using your arms.",
+    "Secure the medium roller with narrower tips from the table using arms",
+    "Both arms should grab the solid wood roller now.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Pick up the medium-sized roller using both arms.",
+    "Use arms to hold the wooden rolling tool tightly.",
+    "Use arms to firmly grab the light brown wooden roller.",
+    "Take hold of the medium roller with narrower tips with arms.",
+    "Grasp the cylindrical roller with tapered ends firmly from the table.",
+    "Firmly grip the roller with polished surface on the table now.",
+    "Use both arms to grab the wooden rolling tool.",
+    "Grab the light brown roller directly from the table.",
+    "Get hold of the palm-length roller using your arms",
+    "Pick up the roller for smoothing materials using both arms equally",
+    "Bring both arms to grab the wood roller.",
+    "Pick up the cylindrical roller with tapered ends from the table.",
+    "Lift the wooden rolling tool from the table.",
+    "Use both arms to grip the palm-length roller tightly.",
+    "Take hold of the medium roller with narrower tips.",
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Take hold of the cylindrical roller with tapered ends with both arms.",
+    "Lift the cylindrical roller with tapered ends with your arms.",
+    "Lift the light brown roller from the table carefully.",
+    "Grasp the solid wood roller firmly with arms.",
+    "Secure the solid wood roller on the table using arms.",
+    "Hold the roller for smoothing materials from the table.",
+    "Hold the solid wood roller firmly from the table.",
+    "Grip the wood roller firmly with arms.",
+    "Reach for the solid wood roller and hold it firmly",
+    "Pick up the roller with smooth and shiny texture from the table directly.",
+    "Place hands on the medium-sized roller and lift.",
+    "Take hold of the solid wood roller using your arms.",
+    "Lift the medium-sized roller from its place on the table",
+    "Take the roller for smoothing materials directly from the table.",
+    "Secure the roller with polished surface with both arms.",
+    "Grab the roller for smoothing materials placed on the table.",
+    "Securely grab the wooden rolling tool using both arms.",
+    "Firmly grab the solid wood roller using arms.",
+    "Grasp the wooden rolling tool on the table with arms.",
+    "Take both arms to grasp the roller with smooth and shiny texture.",
+    "Hold the wood roller on the table with hands.",
+    "Reach out to grab the light brown roller from the table",
+    "Reach for the solid wood roller and grab it firmly.",
+    "Lift the palm-length roller off the table with both arms",
+    "Grasp the light brown wooden roller on the table.",
+    "Secure the roller with smooth and shiny texture using your arms.",
+    "Secure the medium roller with narrower tips from the table using arms",
+    "Both arms should grab the wooden rolling tool now.",
+    "Lift the roller with polished surface off the table with arms.",
+    "Pick up the roller with smooth and shiny texture using both arms.",
+    "Use arms to hold the solid wood roller tightly.",
+    "Use arms to firmly grab the medium roller with narrower tips.",
+    "Take hold of the wood roller with arms.",
+    "Grasp the cylindrical roller with tapered ends firmly from the table.",
+    "Firmly grip the light brown roller on the table now.",
+    "Use both arms to grab the roller for smoothing materials.",
+    "Grab the light brown roller directly from the table.",
+    "Get hold of the palm-length roller using your arms",
+    "Pick up the cylindrical roller with tapered ends using both arms equally",
+    "Bring both arms to grab the solid wood roller.",
+    "Pick up the palm-length roller from the table.",
+    "Lift the roller with smooth and shiny texture from the table.",
+    "Use both arms to grip the solid wood roller tightly.",
+    "Take hold of the wood roller.",
+    "Hold the wood roller with both arms to pick it up",
+    "Take hold of the wooden rolling tool with both arms.",
+    "Lift the medium roller with narrower tips with your arms.",
+    "Lift the light brown wooden roller from the table carefully.",
+    "Grasp the cylindrical roller with tapered ends firmly with arms.",
+    "Secure the roller with polished surface on the table using arms.",
+    "Hold the light brown roller from the table.",
+    "Hold the palm-length roller firmly from the table.",
+    "Grip the wood roller firmly with arms.",
+    "Reach for the solid wood roller and hold it firmly",
+    "Pick up the wooden rolling tool from the table directly."
+  ],
+  "unseen": [
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the roller with tapered tips with both arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller with both arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips with both arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table with arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reach out to grab the long slim roller from the table",
+    "Grasp the slim wooden roller on the table with arms.",
+    "Use arms to firmly grab the roller shaped like cylinder.",
+    "Grab the light wood roller directly from the table.",
+    "Both arms should grab the light wood roller now.",
+    "Lift the roller with smooth texture from the table.",
+    "Hold the cylindrical roller firmly from the table.",
+    "Secure the roller with smooth texture with both arms.",
+    "Grab the roller for rolling placed on the table.",
+    "Take both arms to grasp the narrow tapered roller.",
+    "Grasp the slim wooden roller firmly with arms.",
+    "Pick up the light wood roller using both arms equally",
+    "Secure the cylindrical roller on the table using arms.",
+    "Grip the narrow tapered roller firmly with arms.",
+    "Grasp the palm-sized roller on the table.",
+    "Hold the roller with smooth texture on the table with hands.",
+    "Get hold of the smooth light brown roller using your arms",
+    "Place hands on the light wood roller and lift.",
+    "Reach for the cylindrical roller and grab it firmly.",
+    "Take hold of the narrow tapered roller using your arms.",
+    "Pick up the long slim roller from the table directly.",
+    "Hold the brown roller from the table.",
+    "Lift the light wood roller from its place on the table",
+    "Lift the brown roller from the table carefully.",
+    "Pick up the brown roller using both arms.",
+    "Secure the narrow tapered roller using your arms.",
+    "Grasp the narrow tapered roller firmly from the table.",
+    "Take hold of the narrow tapered roller with arms.",
+    "Take hold of the palm-sized roller.",
+    "Secure the roller with smooth texture from the table using arms",
+    "Firmly grab the slim wooden roller using arms.",
+    "Take hold of the slim wooden roller with both arms.",
+    "Lift the cylindrical roller off the table with arms.",
+    "Use arms to hold the roller with smooth texture tightly.",
+    "Securely grab the long slim roller using both arms.",
+    "Take the long slim roller directly from the table.",
+    "Lift the cylindrical roller off the table with both arms",
+    "Reach for the narrow tapered roller and hold it firmly",
+    "Use both arms to grip the smooth light brown roller tightly.",
+    "Use both arms to grab the roller for rolling.",
+    "Pick up the brown roller from the table.",
+    "Firmly grip the smooth cylindrical roller on the table now.",
+    "Lift the narrow tapered roller with your arms.",
+    "Hold the roller for rolling with both arms to pick it up",
+    "Bring both arms to grab the roller shaped like cylinder.",
+    "Reach out to grab the slim wooden roller from the table",
+    "Grasp the cylindrical roller on the table with arms.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Grab the brown roller directly from the table.",
+    "Both arms should grab the cylindrical roller now.",
+    "Lift the long slim roller from the table.",
+    "Hold the roller shaped like cylinder firmly from the table.",
+    "Secure the smooth light brown roller with both arms.",
+    "Grab the roller with smooth texture placed on the table.",
+    "Take both arms to grasp the smooth light brown roller.",
+    "Grasp the slim wooden roller firmly with arms.",
+    "Pick up the narrow tapered roller using both arms equally",
+    "Secure the smooth cylindrical roller on the table using arms.",
+    "Grip the long slim roller firmly with arms.",
+    "Grasp the roller shaped like cylinder on the table.",
+    "Hold the narrow tapered roller on the table with hands.",
+    "Get hold of the palm-sized roller using your arms",
+    "Place hands on the smooth cylindrical roller and lift.",
+    "Reach for the cylindrical roller and grab it firmly.",
+    "Take hold of the long slim roller using your arms.",
+    "Pick up the roller with smooth texture from the table directly.",
+    "Hold the cylindrical roller from the table.",
+    "Lift the smooth cylindrical roller from its place on the table",
+    "Lift the light wood roller from the table carefully.",
+    "Pick up the cylindrical roller using both arms.",
+    "Secure the smooth light brown roller using your arms.",
+    "Grasp the slim wooden roller firmly from the table.",
+    "Take hold of the narrow tapered roller with arms.",
+    "Take hold of the roller with smooth texture.",
+    "Secure the cylindrical roller from the table using arms",
+    "Firmly grab the roller for rolling using arms.",
+    "Take hold of the narrow tapered roller with both arms.",
+    "Lift the slim wooden roller off the table with arms.",
+    "Use arms to hold the smooth light brown roller tightly.",
+    "Securely grab the roller shaped like cylinder using both arms.",
+    "Take the cylindrical roller directly from the table.",
+    "Lift the narrow tapered roller off the table with both arms",
+    "Reach for the slim wooden roller and hold it firmly",
+    "Use both arms to grip the roller shaped like cylinder tightly.",
+    "Use both arms to grab the narrow tapered roller.",
+    "Pick up the smooth cylindrical roller from the table.",
+    "Firmly grip the smooth cylindrical roller on the table now.",
+    "Lift the light wood roller with your arms.",
+    "Hold the roller shaped like cylinder with both arms to pick it up",
+    "Bring both arms to grab the roller with smooth texture.",
+    "Reach out to grab the long slim roller from the table",
+    "Grasp the light wood roller on the table with arms.",
+    "Use arms to firmly grab the roller with smooth texture.",
+    "Grab the long slim roller directly from the table.",
+    "Both arms should grab the palm-sized roller now.",
+    "Lift the light wood roller from the table.",
+    "Hold the roller shaped like cylinder firmly from the table.",
+    "Secure the long slim roller with both arms.",
+    "Grab the narrow tapered roller placed on the table.",
+    "Take both arms to grasp the brown roller."
+  ],
+  "unseen": [
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the wooden roller on the table using arms",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the light brown wooden roller on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the wooden roller on the table using arms",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the wooden roller on the table using arms",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the wooden roller on the table using arms",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Use both arms to grab the roller with tapered ends."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Reach for the light brown wooden roller and hold it firmly",
+    "Securely grab the cylindrical roller with tapered ends using both arms.",
+    "Secure the cylindrical roller with tapered ends from the table using arms",
+    "Take hold of the wooden rolling tool with both arms.",
+    "Grasp the medium-sized roller firmly from the table.",
+    "Both arms should grab the light brown roller now.",
+    "Grasp the wood roller on the table with arms.",
+    "Pick up the cylindrical roller with tapered ends using both arms equally",
+    "Grab the solid wood roller placed on the table.",
+    "Use arms to hold the wooden rolling tool tightly.",
+    "Take both arms to grasp the roller with smooth and shiny texture.",
+    "Lift the wood roller from the table carefully.",
+    "Reach for the roller with polished surface and grab it firmly.",
+    "Take hold of the medium-sized roller.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Grip the wood roller firmly with arms.",
+    "Grasp the light brown wooden roller on the table.",
+    "Take the roller with polished surface directly from the table.",
+    "Reach out to grab the roller with polished surface from the table",
+    "Hold the wooden rolling tool firmly from the table.",
+    "Bring both arms to grab the medium roller with narrower tips.",
+    "Secure the roller for smoothing materials with both arms.",
+    "Grab the solid wood roller directly from the table.",
+    "Hold the roller with polished surface on the table with hands.",
+    "Grasp the light brown roller firmly with arms.",
+    "Take hold of the roller with polished surface using your arms.",
+    "Lift the roller for smoothing materials from its place on the table",
+    "Lift the solid wood roller from the table.",
+    "Use arms to firmly grab the wooden rolling tool.",
+    "Lift the medium-sized roller off the table with both arms",
+    "Firmly grip the roller with polished surface on the table now.",
+    "Secure the light brown roller using your arms.",
+    "Pick up the roller for smoothing materials from the table.",
+    "Firmly grab the solid wood roller using arms.",
+    "Get hold of the medium roller with narrower tips using your arms",
+    "Take hold of the light brown wooden roller with arms.",
+    "Lift the palm-length roller with your arms.",
+    "Pick up the medium-sized roller using both arms.",
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Pick up the medium-sized roller from the table directly.",
+    "Secure the medium roller with narrower tips on the table using arms.",
+    "Use both arms to grab the roller with smooth and shiny texture.",
+    "Use both arms to grip the medium roller with narrower tips tightly.",
+    "Place hands on the roller for smoothing materials and lift.",
+    "Hold the light brown wooden roller from the table.",
+    "Reach for the medium-sized roller and hold it firmly",
+    "Securely grab the cylindrical roller with tapered ends using both arms.",
+    "Secure the roller with polished surface from the table using arms",
+    "Take hold of the medium roller with narrower tips with both arms.",
+    "Grasp the medium roller with narrower tips firmly from the table.",
+    "Both arms should grab the wood roller now.",
+    "Grasp the light brown wooden roller on the table with arms.",
+    "Pick up the wood roller using both arms equally",
+    "Grab the medium roller with narrower tips placed on the table.",
+    "Use arms to hold the palm-length roller tightly.",
+    "Take both arms to grasp the cylindrical roller with tapered ends.",
+    "Lift the medium-sized roller from the table carefully.",
+    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
+    "Take hold of the wooden rolling tool.",
+    "Lift the light brown wooden roller off the table with arms.",
+    "Grip the cylindrical roller with tapered ends firmly with arms.",
+    "Grasp the palm-length roller on the table.",
+    "Take the roller with polished surface directly from the table.",
+    "Reach out to grab the cylindrical roller with tapered ends from the table",
+    "Hold the solid wood roller firmly from the table.",
+    "Bring both arms to grab the wooden rolling tool.",
+    "Secure the light brown wooden roller with both arms.",
+    "Grab the light brown roller directly from the table.",
+    "Hold the light brown roller on the table with hands.",
+    "Grasp the roller for smoothing materials firmly with arms.",
+    "Take hold of the roller for smoothing materials using your arms.",
+    "Lift the medium-sized roller from its place on the table",
+    "Lift the roller with polished surface from the table.",
+    "Use arms to firmly grab the roller with polished surface.",
+    "Lift the wood roller off the table with both arms",
+    "Firmly grip the cylindrical roller with tapered ends on the table now.",
+    "Secure the cylindrical roller with tapered ends using your arms.",
+    "Pick up the wooden rolling tool from the table.",
+    "Firmly grab the wood roller using arms.",
+    "Get hold of the light brown roller using your arms",
+    "Take hold of the cylindrical roller with tapered ends with arms.",
+    "Lift the wood roller with your arms.",
+    "Pick up the roller with polished surface using both arms.",
+    "Hold the cylindrical roller with tapered ends with both arms to pick it up",
+    "Pick up the cylindrical roller with tapered ends from the table directly.",
+    "Secure the roller for smoothing materials on the table using arms.",
+    "Use both arms to grab the medium-sized roller.",
+    "Use both arms to grip the roller with polished surface tightly.",
+    "Place hands on the roller for smoothing materials and lift.",
+    "Hold the roller with smooth and shiny texture from the table.",
+    "Reach for the wood roller and hold it firmly",
+    "Securely grab the wooden rolling tool using both arms.",
+    "Secure the solid wood roller from the table using arms",
+    "Take hold of the medium-sized roller with both arms.",
+    "Grasp the light brown roller firmly from the table.",
+    "Both arms should grab the light brown roller now.",
+    "Grasp the light brown roller on the table with arms.",
+    "Pick up the wood roller using both arms equally",
+    "Grab the roller with polished surface placed on the table.",
+    "Use arms to hold the medium-sized roller tightly."
+  ],
+  "unseen": [
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the smooth wooden roller on the table.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Grab the roller with tapered tips on the table with arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Both arms should grab the slim wooden roller now.",
+    "Lift the slim wooden roller from its place on the table",
+    "Firmly grab the smooth light brown roller using arms.",
+    "Take hold of the palm-sized roller.",
+    "Lift the roller with smooth texture from the table carefully.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Lift the palm-sized roller off the table with arms.",
+    "Secure the roller for rolling on the table using arms.",
+    "Lift the cylindrical roller with your arms.",
+    "Secure the light wood roller using your arms.",
+    "Take both arms to grasp the long slim roller.",
+    "Use both arms to grip the smooth light brown roller tightly.",
+    "Hold the smooth cylindrical roller with both arms to pick it up",
+    "Take hold of the palm-sized roller with both arms.",
+    "Grasp the narrow tapered roller on the table.",
+    "Secure the long slim roller from the table using arms",
+    "Grip the narrow tapered roller firmly with arms.",
+    "Pick up the brown roller using both arms equally",
+    "Grab the palm-sized roller placed on the table.",
+    "Use arms to hold the roller with smooth texture tightly.",
+    "Pick up the brown roller from the table directly.",
+    "Take hold of the light wood roller using your arms.",
+    "Grasp the brown roller on the table with arms.",
+    "Pick up the roller for rolling from the table.",
+    "Lift the cylindrical roller from the table.",
+    "Lift the palm-sized roller off the table with both arms",
+    "Secure the narrow tapered roller with both arms.",
+    "Place hands on the smooth light brown roller and lift.",
+    "Hold the narrow tapered roller from the table.",
+    "Grasp the narrow tapered roller firmly from the table.",
+    "Hold the narrow tapered roller firmly from the table.",
+    "Firmly grip the long slim roller on the table now.",
+    "Take the smooth light brown roller directly from the table.",
+    "Reach for the smooth cylindrical roller and grab it firmly.",
+    "Securely grab the roller shaped like cylinder using both arms.",
+    "Reach for the roller for rolling and hold it firmly",
+    "Pick up the light wood roller using both arms.",
+    "Bring both arms to grab the slim wooden roller.",
+    "Take hold of the slim wooden roller with arms.",
+    "Grab the roller shaped like cylinder directly from the table.",
+    "Grasp the roller shaped like cylinder firmly with arms.",
+    "Hold the roller shaped like cylinder on the table with hands.",
+    "Reach out to grab the brown roller from the table",
+    "Use both arms to grab the light wood roller.",
+    "Get hold of the roller shaped like cylinder using your arms",
+    "Both arms should grab the slim wooden roller now.",
+    "Lift the palm-sized roller from its place on the table",
+    "Firmly grab the long slim roller using arms.",
+    "Take hold of the slim wooden roller.",
+    "Lift the smooth cylindrical roller from the table carefully.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Lift the smooth light brown roller off the table with arms.",
+    "Secure the smooth cylindrical roller on the table using arms.",
+    "Lift the light wood roller with your arms.",
+    "Secure the palm-sized roller using your arms.",
+    "Take both arms to grasp the narrow tapered roller.",
+    "Use both arms to grip the smooth light brown roller tightly.",
+    "Hold the cylindrical roller with both arms to pick it up",
+    "Take hold of the smooth cylindrical roller with both arms.",
+    "Grasp the narrow tapered roller on the table.",
+    "Secure the palm-sized roller from the table using arms",
+    "Grip the long slim roller firmly with arms.",
+    "Pick up the smooth light brown roller using both arms equally",
+    "Grab the smooth light brown roller placed on the table.",
+    "Use arms to hold the smooth light brown roller tightly.",
+    "Pick up the narrow tapered roller from the table directly.",
+    "Take hold of the slim wooden roller using your arms.",
+    "Grasp the slim wooden roller on the table with arms.",
+    "Pick up the palm-sized roller from the table.",
+    "Lift the long slim roller from the table.",
+    "Lift the roller shaped like cylinder off the table with both arms",
+    "Secure the smooth cylindrical roller with both arms.",
+    "Place hands on the cylindrical roller and lift.",
+    "Hold the cylindrical roller from the table.",
+    "Grasp the cylindrical roller firmly from the table.",
+    "Hold the smooth light brown roller firmly from the table.",
+    "Firmly grip the roller with smooth texture on the table now.",
+    "Take the narrow tapered roller directly from the table.",
+    "Reach for the roller shaped like cylinder and grab it firmly.",
+    "Securely grab the slim wooden roller using both arms.",
+    "Reach for the brown roller and hold it firmly",
+    "Pick up the roller for rolling using both arms.",
+    "Bring both arms to grab the smooth light brown roller.",
+    "Take hold of the cylindrical roller with arms.",
+    "Grab the brown roller directly from the table.",
+    "Grasp the roller for rolling firmly with arms.",
+    "Hold the slim wooden roller on the table with hands.",
+    "Reach out to grab the brown roller from the table",
+    "Use both arms to grab the brown roller.",
+    "Get hold of the roller with smooth texture using your arms",
+    "Both arms should grab the roller for rolling now.",
+    "Lift the narrow tapered roller from its place on the table",
+    "Firmly grab the slim wooden roller using arms.",
+    "Take hold of the roller for rolling.",
+    "Lift the palm-sized roller from the table carefully.",
+    "Use arms to firmly grab the roller shaped like cylinder.",
+    "Lift the brown roller off the table with arms.",
+    "Secure the cylindrical roller on the table using arms.",
+    "Lift the cylindrical roller with your arms.",
+    "Secure the slim wooden roller using your arms."
+  ],
+  "unseen": [
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the roller with tapered ends with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Grab the wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use arms to grab the wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the light brown wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the roller with tapered ends with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller on the table using arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Grab the wooden roller with both arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Hold the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Use both arms to grab the wooden roller.",
+    "Reach and grab the roller with tapered ends with both arms"
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the roller shaped like cylinder on the table using arms.",
+    "Use both arms to grip the cylindrical roller tightly.",
+    "Pick up the roller for rolling using both arms equally",
+    "Reach for the narrow tapered roller and grab it firmly.",
+    "Use arms to firmly grab the palm-sized roller.",
+    "Take hold of the brown roller.",
+    "Take the long slim roller directly from the table.",
+    "Grasp the smooth cylindrical roller on the table with arms.",
+    "Take both arms to grasp the roller with smooth texture.",
+    "Use both arms to grab the slim wooden roller.",
+    "Secure the palm-sized roller using your arms.",
+    "Hold the brown roller with both arms to pick it up",
+    "Bring both arms to grab the roller for rolling.",
+    "Lift the roller for rolling off the table with arms.",
+    "Firmly grab the narrow tapered roller using arms.",
+    "Lift the light wood roller from its place on the table",
+    "Hold the slim wooden roller on the table with hands.",
+    "Hold the roller shaped like cylinder firmly from the table.",
+    "Grasp the palm-sized roller firmly with arms.",
+    "Lift the roller for rolling from the table.",
+    "Pick up the brown roller from the table directly.",
+    "Both arms should grab the narrow tapered roller now.",
+    "Pick up the cylindrical roller using both arms.",
+    "Take hold of the long slim roller using your arms.",
+    "Grab the smooth light brown roller directly from the table.",
+    "Lift the long slim roller with your arms.",
+    "Reach for the roller with smooth texture and hold it firmly",
+    "Reach out to grab the roller shaped like cylinder from the table",
+    "Grab the palm-sized roller placed on the table.",
+    "Take hold of the brown roller with both arms.",
+    "Get hold of the smooth cylindrical roller using your arms",
+    "Hold the roller shaped like cylinder from the table.",
+    "Securely grab the smooth light brown roller using both arms.",
+    "Use arms to hold the palm-sized roller tightly.",
+    "Secure the light wood roller from the table using arms",
+    "Secure the narrow tapered roller with both arms.",
+    "Grasp the smooth light brown roller on the table.",
+    "Grip the roller with smooth texture firmly with arms.",
+    "Take hold of the brown roller with arms.",
+    "Place hands on the roller with smooth texture and lift.",
+    "Lift the slim wooden roller off the table with both arms",
+    "Grasp the roller with smooth texture firmly from the table.",
+    "Pick up the long slim roller from the table.",
+    "Firmly grip the brown roller on the table now.",
+    "Lift the slim wooden roller from the table carefully.",
+    "Secure the slim wooden roller on the table using arms.",
+    "Use both arms to grip the palm-sized roller tightly.",
+    "Pick up the light wood roller using both arms equally",
+    "Reach for the slim wooden roller and grab it firmly.",
+    "Use arms to firmly grab the roller for rolling.",
+    "Take hold of the slim wooden roller.",
+    "Take the cylindrical roller directly from the table.",
+    "Grasp the cylindrical roller on the table with arms.",
+    "Take both arms to grasp the smooth cylindrical roller.",
+    "Use both arms to grab the brown roller.",
+    "Secure the long slim roller using your arms.",
+    "Hold the palm-sized roller with both arms to pick it up",
+    "Bring both arms to grab the roller shaped like cylinder.",
+    "Lift the roller shaped like cylinder off the table with arms.",
+    "Firmly grab the brown roller using arms.",
+    "Lift the palm-sized roller from its place on the table",
+    "Hold the roller shaped like cylinder on the table with hands.",
+    "Hold the roller shaped like cylinder firmly from the table.",
+    "Grasp the smooth light brown roller firmly with arms.",
+    "Lift the light wood roller from the table.",
+    "Pick up the long slim roller from the table directly.",
+    "Both arms should grab the slim wooden roller now.",
+    "Pick up the long slim roller using both arms.",
+    "Take hold of the roller shaped like cylinder using your arms.",
+    "Grab the narrow tapered roller directly from the table.",
+    "Lift the light wood roller with your arms.",
+    "Reach for the slim wooden roller and hold it firmly",
+    "Reach out to grab the roller for rolling from the table",
+    "Grab the brown roller placed on the table.",
+    "Take hold of the palm-sized roller with both arms.",
+    "Get hold of the narrow tapered roller using your arms",
+    "Hold the slim wooden roller from the table.",
+    "Securely grab the long slim roller using both arms.",
+    "Use arms to hold the palm-sized roller tightly.",
+    "Secure the smooth light brown roller from the table using arms",
+    "Secure the roller with smooth texture with both arms.",
+    "Grasp the roller for rolling on the table.",
+    "Grip the roller for rolling firmly with arms.",
+    "Take hold of the roller for rolling with arms.",
+    "Place hands on the slim wooden roller and lift.",
+    "Lift the brown roller off the table with both arms",
+    "Grasp the smooth light brown roller firmly from the table.",
+    "Pick up the roller shaped like cylinder from the table.",
+    "Firmly grip the long slim roller on the table now.",
+    "Lift the narrow tapered roller from the table carefully.",
+    "Secure the light wood roller on the table using arms.",
+    "Use both arms to grip the smooth cylindrical roller tightly.",
+    "Pick up the roller shaped like cylinder using both arms equally",
+    "Reach for the smooth light brown roller and grab it firmly.",
+    "Use arms to firmly grab the roller shaped like cylinder.",
+    "Take hold of the narrow tapered roller.",
+    "Take the roller for rolling directly from the table.",
+    "Grasp the slim wooden roller on the table with arms.",
+    "Take both arms to grasp the cylindrical roller.",
+    "Use both arms to grab the slim wooden roller."
+  ],
+  "unseen": [
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table.",
+    "Use arms to grab the roller with tapered ends.",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the roller with tapered ends.",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table using arms",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the wooden roller.",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the roller with tapered ends with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the roller with tapered ends on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Hold the roller with tapered ends with both arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the light brown wooden roller.",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the light brown wooden roller with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the wooden roller on the table with arms.",
+    "Grab the wooden roller on the table with arms.",
+    "Use both arms to grab the roller with tapered ends.",
+    "Grab the light brown wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Hold the light brown wooden roller with both arms.",
+    "Reach and grab the wooden roller with both arms",
+    "Grab the roller with tapered ends with both arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the roller with tapered ends on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table with arms.",
+    "Use both arms to grab the light brown wooden roller.",
+    "Grab the wooden roller on the table.",
+    "Use arms to grab the wooden roller.",
+    "Hold the wooden roller with both arms.",
+    "Reach and grab the light brown wooden roller with both arms",
+    "Grab the wooden roller with both arms.",
+    "Use both arms to grab the wooden roller.",
+    "Grab the light brown wooden roller on the table using arms",
+    "Grab the light brown wooden roller on the table with arms.",
+    "Grab the roller with tapered ends on the table with arms."
+  ]
+}

grab_roller/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the roller with smooth and shiny texture on the table with arms.",
+    "Lift the medium roller with narrower tips off the table with arms.",
+    "Secure the wood roller with both arms.",
+    "Take both arms to grasp the solid wood roller.",
+    "Bring both arms to grab the wooden rolling tool.",
+    "Use arms to firmly grab the wood roller.",
+    "Pick up the wood roller from the table.",
+    "Lift the wooden rolling tool from its place on the table",
+    "Reach for the cylindrical roller with tapered ends and grab it firmly.",
+    "Securely grab the cylindrical roller with tapered ends using both arms.",
+    "Hold the light brown roller from the table.",
+    "Pick up the solid wood roller using both arms.",
+    "Secure the solid wood roller from the table using arms",
+    "Take the roller with smooth and shiny texture directly from the table.",
+    "Reach out to grab the solid wood roller from the table",
+    "Grab the wooden rolling tool directly from the table.",
+    "Take hold of the medium roller with narrower tips using your arms.",
+    "Hold the wooden rolling tool with both arms to pick it up",
+    "Lift the roller with polished surface from the table carefully.",
+    "Take hold of the roller with smooth and shiny texture with both arms.",
+    "Lift the wooden rolling tool from the table.",
+    "Grip the wood roller firmly with arms.",
+    "Take hold of the cylindrical roller with tapered ends.",
+    "Lift the wooden rolling tool with your arms.",
+    "Grab the cylindrical roller with tapered ends placed on the table.",
+    "Take hold of the solid wood roller with arms.",
+    "Firmly grip the wooden rolling tool on the table now.",
+    "Pick up the medium-sized roller from the table directly.",
+    "Use both arms to grip the medium roller with narrower tips tightly.",
+    "Grasp the cylindrical roller with tapered ends firmly with arms.",
+    "Grasp the medium-sized roller firmly from the table.",
+    "Lift the roller with polished surface off the table with both arms",
+    "Hold the wooden rolling tool firmly from the table.",
+    "Grasp the palm-length roller on the table.",
+    "Reach for the wood roller and hold it firmly",
+    "Place hands on the palm-length roller and lift.",
+    "Secure the light brown wooden roller on the table using arms.",
+    "Firmly grab the medium roller with narrower tips using arms.",
+    "Both arms should grab the solid wood roller now.",
+    "Get hold of the light brown roller using your arms",
+    "Secure the light brown roller using your arms.",
+    "Pick up the wood roller using both arms equally",
+    "Use arms to hold the roller with polished surface tightly.",
+    "Use both arms to grab the medium-sized roller.",
+    "Hold the roller with smooth and shiny texture on the table with hands.",
+    "Grasp the light brown roller on the table with arms.",
+    "Lift the roller for smoothing materials off the table with arms.",
+    "Secure the roller with polished surface with both arms.",
+    "Take both arms to grasp the medium-sized roller.",
+    "Bring both arms to grab the medium-sized roller.",
+    "Use arms to firmly grab the roller with polished surface.",
+    "Pick up the medium-sized roller from the table.",
+    "Lift the roller for smoothing materials from its place on the table",
+    "Reach for the light brown wooden roller and grab it firmly.",
+    "Securely grab the roller with smooth and shiny texture using both arms.",
+    "Hold the medium-sized roller from the table.",
+    "Pick up the cylindrical roller with tapered ends using both arms.",
+    "Secure the light brown wooden roller from the table using arms",
+    "Take the medium-sized roller directly from the table.",
+    "Reach out to grab the cylindrical roller with tapered ends from the table",
+    "Grab the solid wood roller directly from the table.",
+    "Take hold of the wooden rolling tool using your arms.",
+    "Hold the roller with polished surface with both arms to pick it up",
+    "Lift the roller for smoothing materials from the table carefully.",
+    "Take hold of the light brown wooden roller with both arms.",
+    "Lift the wood roller from the table.",
+    "Grip the wood roller firmly with arms.",
+    "Take hold of the roller for smoothing materials.",
+    "Lift the roller with polished surface with your arms.",
+    "Grab the light brown roller placed on the table.",
+    "Take hold of the roller with polished surface with arms.",
+    "Firmly grip the roller for smoothing materials on the table now.",
+    "Pick up the roller with smooth and shiny texture from the table directly.",
+    "Use both arms to grip the light brown wooden roller tightly.",
+    "Grasp the solid wood roller firmly with arms.",
+    "Grasp the roller with polished surface firmly from the table.",
+    "Lift the palm-length roller off the table with both arms",
+    "Hold the wooden rolling tool firmly from the table.",
+    "Grasp the cylindrical roller with tapered ends on the table.",
+    "Reach for the roller for smoothing materials and hold it firmly",
+    "Place hands on the cylindrical roller with tapered ends and lift.",
+    "Secure the wooden rolling tool on the table using arms.",
+    "Firmly grab the light brown roller using arms.",
+    "Both arms should grab the light brown roller now.",
+    "Get hold of the palm-length roller using your arms",
+    "Secure the roller with smooth and shiny texture using your arms.",
+    "Pick up the light brown roller using both arms equally",
+    "Use arms to hold the cylindrical roller with tapered ends tightly.",
+    "Use both arms to grab the roller for smoothing materials.",
+    "Hold the medium-sized roller on the table with hands.",
+    "Grasp the solid wood roller on the table with arms.",
+    "Lift the palm-length roller off the table with arms.",
+    "Secure the cylindrical roller with tapered ends with both arms.",
+    "Take both arms to grasp the light brown wooden roller.",
+    "Bring both arms to grab the light brown wooden roller.",
+    "Use arms to firmly grab the medium-sized roller.",
+    "Pick up the cylindrical roller with tapered ends from the table.",
+    "Lift the light brown wooden roller from its place on the table",
+    "Reach for the wood roller and grab it firmly.",
+    "Securely grab the palm-length roller using both arms."
+  ],
+  "unseen": [
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the smooth wooden roller.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Hold the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the smooth wooden roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Reach and grab the light brown cylindrical roller with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the roller with tapered tips on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the roller with tapered tips on the table.",
+    "Hold the smooth wooden roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the smooth wooden roller.",
+    "Reach and grab the roller with tapered tips with both arms",
+    "Grab the smooth wooden roller on the table.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table using arms",
+    "Use both arms to grab the roller with tapered tips.",
+    "Use both arms to grab the light brown cylindrical roller.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the roller with tapered tips with both arms.",
+    "Grab the smooth wooden roller on the table with arms.",
+    "Use arms to grab the light brown cylindrical roller.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Hold the light brown cylindrical roller with both arms.",
+    "Grab the roller with tapered tips on the table using arms",
+    "Use both arms to grab the smooth wooden roller.",
+    "Use both arms to grab the roller with tapered tips.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Grab the light brown cylindrical roller with both arms.",
+    "Grab the light brown cylindrical roller on the table with arms.",
+    "Use arms to grab the roller with tapered tips.",
+    "Reach and grab the smooth wooden roller with both arms",
+    "Grab the light brown cylindrical roller on the table.",
+    "Hold the roller with tapered tips with both arms."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the lid of the smooth textured laptop.",
+    "Use the left arm to lift the wood surrounded laptop",
+    "Open the smooth textured laptop completely.",
+    "Pull the black and silver laptop's lid upward.",
+    "Raise and open the silver laptop with foldable parts.",
+    "Pull the medium foldable silver laptop upward lightly.",
+    "Lift and open the metal laptop.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Open the silver laptop with black keyboard lifting with the left arm",
+    "Push the metal laptop's lid upward using the left arm.",
+    "Use the left arm to open the metal laptop.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Raise the metal laptop lid using the left arm.",
+    "Open the keyboard laptop carefully with the left arm.",
+    "Pull open the keyboard laptop",
+    "Gently open the silver laptop.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Gently raise the silver laptop with black keyboard using the left arm.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Raise the wood surrounded laptop's top section.",
+    "Lift the laptop with wood panel background lid completely.",
+    "Gently open the laptop with black textured screen upward.",
+    "Raise the top of the wood surrounded laptop",
+    "Carefully open the black screen laptop using the left arm",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Grip and lift the metal laptop's lid.",
+    "Use the left arm to open the wood surrounded laptop.",
+    "Open the laptop with black textured screen entirely.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Pull up the lid of the silver laptop with black keyboard",
+    "Use the left arm to open the silver laptop with black keyboard",
+    "Pull the lid of the keyboard laptop upward.",
+    "Hold the metal laptop steady, lift lid.",
+    "Lift the silver laptop with foldable parts's lid using the left arm.",
+    "Raise the silver laptop with foldable parts using the left arm.",
+    "Raise the laptop with black textured screen lid with the left arm.",
+    "Fully lift the black screen laptop using the left arm.",
+    "Pull the screen of the smooth textured laptop.",
+    "Raise the silver laptop using the left arm firmly.",
+    "Pull the keyboard laptop open with the left arm.",
+    "Gently lift the metal laptop using the left arm",
+    "Slide the black screen laptop open with the left arm.",
+    "Lift the black screen laptop to open.",
+    "Raise the smooth textured laptop to expose the screen",
+    "Lift the silver laptop with black keyboard's lid upwards.",
+    "Raise the wood surrounded laptop using the left arm.",
+    "Lift the smooth textured laptop slightly.",
+    "With the left arm, open the metal laptop's lid.",
+    "Fully open the the wood surrounded laptop.",
+    "Raise the lid of the wood surrounded laptop.",
+    "Use the left arm to lift the laptop with wood panel background",
+    "Open the keyboard laptop completely.",
+    "Pull the medium foldable silver laptop's lid upward.",
+    "Raise and open the smooth textured laptop.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Lift and open the medium foldable silver laptop.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Open the black screen laptop lifting with the left arm",
+    "Push the silver laptop with foldable parts's lid upward using the left arm.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Lift the laptop with wood panel background open with the left arm.",
+    "Raise the wood surrounded laptop lid using the left arm.",
+    "Open the black screen laptop carefully with the left arm.",
+    "Pull open the silver laptop with foldable parts",
+    "Gently open the silver laptop with black keyboard.",
+    "Use the left arm to open the laptop with black textured screen.",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Gently raise the silver laptop with black keyboard using the left arm.",
+    "Use the left arm to raise the laptop with black textured screen.",
+    "Raise the black and silver laptop's top section.",
+    "Lift the wood surrounded laptop lid completely.",
+    "Gently open the keyboard laptop upward.",
+    "Raise the top of the smooth textured laptop",
+    "Carefully open the laptop with black textured screen using the left arm",
+    "Lift the wood surrounded laptop to open it up",
+    "Grip and lift the laptop with black textured screen's lid.",
+    "Use the left arm to open the black screen laptop.",
+    "Open the silver laptop entirely.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Use the left arm to open the black screen laptop",
+    "Pull the lid of the keyboard laptop upward.",
+    "Hold the laptop with black textured screen steady, lift lid.",
+    "Lift the smooth textured laptop's lid using the left arm.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Raise the silver laptop with black keyboard lid with the left arm.",
+    "Fully lift the silver laptop using the left arm.",
+    "Pull the screen of the black screen laptop.",
+    "Raise the wood surrounded laptop using the left arm firmly.",
+    "Pull the black screen laptop open with the left arm.",
+    "Gently lift the medium foldable silver laptop using the left arm",
+    "Slide the smooth textured laptop open with the left arm.",
+    "Lift the wood surrounded laptop to open.",
+    "Raise the laptop with black textured screen to expose the screen",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "Raise the black screen laptop using the left arm.",
+    "Lift the metal laptop slightly.",
+    "With the left arm, open the silver laptop's lid.",
+    "Fully open the the keyboard laptop."
+  ],
+  "unseen": [
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the foldable laptop using the left arm",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display using the left arm.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Lift the medium laptop with silver body's lid gently."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Use the right arm to open the black screen laptop",
+    "Pull up the lid of the medium foldable silver laptop",
+    "Pull the metal laptop upward lightly.",
+    "Use the right arm to raise the silver laptop.",
+    "Raise the black screen laptop's top section.",
+    "Lift and open the metal laptop.",
+    "Open the smooth textured laptop entirely.",
+    "Lift the black screen laptop open with the right arm.",
+    "Grip and lift the laptop with black textured screen's lid.",
+    "Open the silver laptop with foldable parts lifting with the right arm",
+    "Raise the black screen laptop lid with the right arm.",
+    "Gently raise the silver laptop with black keyboard using the right arm.",
+    "Slide the keyboard laptop open with the right arm.",
+    "Gently open the black screen laptop upward.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Open the wood surrounded laptop by lifting its lid.",
+    "Lift the black screen laptop to open it up",
+    "Pull the keyboard laptop open with the right arm.",
+    "Carefully open the wood surrounded laptop using the right arm",
+    "Raise the silver laptop with foldable parts using the right arm firmly.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Gently open the wood surrounded laptop.",
+    "Fully open the the black and silver laptop.",
+    "Lift the wood surrounded laptop's lid using the right arm.",
+    "Raise the top of the laptop with wood panel background",
+    "Pull the laptop with wood panel background's lid upward.",
+    "Push the silver laptop's lid upward using the right arm.",
+    "Raise the lid of the laptop with black textured screen.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Raise and open the black and silver laptop.",
+    "Use the right arm to raise the silver laptop with black keyboard.",
+    "Use the right arm to raise the black screen laptop.",
+    "Raise the black and silver laptop using the right arm.",
+    "Pull the lid of the laptop with black textured screen upward.",
+    "Raise the keyboard laptop using the right arm.",
+    "Open the silver laptop carefully with the right arm.",
+    "Lift the laptop with wood panel background to open.",
+    "Pull open the black and silver laptop",
+    "Lift the silver laptop lid completely.",
+    "Use the right arm to lift the wood surrounded laptop",
+    "With the right arm, open the wood surrounded laptop's lid.",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Fully lift the smooth textured laptop using the right arm.",
+    "Lift the black and silver laptop's lid upwards.",
+    "Raise the smooth textured laptop to expose the screen",
+    "Open the silver laptop completely.",
+    "Lift the silver laptop with black keyboard slightly.",
+    "Raise the silver laptop lid using the right arm.",
+    "Gently lift the silver laptop with black keyboard using the right arm",
+    "Hold the laptop with wood panel background steady, lift lid.",
+    "Use the right arm to open the laptop with wood panel background",
+    "Pull up the lid of the metal laptop",
+    "Pull the black and silver laptop upward lightly.",
+    "Use the right arm to raise the laptop with wood panel background.",
+    "Raise the black and silver laptop's top section.",
+    "Lift and open the laptop with black textured screen.",
+    "Open the black screen laptop entirely.",
+    "Lift the silver laptop with black keyboard open with the right arm.",
+    "Grip and lift the laptop with wood panel background's lid.",
+    "Open the silver laptop lifting with the right arm",
+    "Raise the black and silver laptop lid with the right arm.",
+    "Gently raise the smooth textured laptop using the right arm.",
+    "Slide the silver laptop with black keyboard open with the right arm.",
+    "Gently open the medium foldable silver laptop upward.",
+    "Use the right arm to open the black screen laptop.",
+    "Open the medium foldable silver laptop by lifting its lid.",
+    "Lift the silver laptop with black keyboard to open it up",
+    "Pull the black screen laptop open with the right arm.",
+    "Carefully open the silver laptop with black keyboard using the right arm",
+    "Raise the keyboard laptop using the right arm firmly.",
+    "Use the right arm to open the silver laptop with foldable parts.",
+    "Gently open the wood surrounded laptop.",
+    "Fully open the the wood surrounded laptop.",
+    "Lift the smooth textured laptop's lid using the right arm.",
+    "Raise the top of the medium foldable silver laptop",
+    "Pull the metal laptop's lid upward.",
+    "Push the silver laptop with black keyboard's lid upward using the right arm.",
+    "Raise the lid of the silver laptop with black keyboard.",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "Raise and open the black screen laptop.",
+    "Use the right arm to raise the metal laptop.",
+    "Use the right arm to raise the keyboard laptop.",
+    "Raise the silver laptop with black keyboard using the right arm.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Raise the silver laptop with black keyboard using the right arm.",
+    "Open the smooth textured laptop carefully with the right arm.",
+    "Lift the wood surrounded laptop to open.",
+    "Pull open the smooth textured laptop",
+    "Lift the metal laptop lid completely.",
+    "Use the right arm to lift the laptop with wood panel background",
+    "With the right arm, open the silver laptop with foldable parts's lid.",
+    "Pull the screen of the keyboard laptop.",
+    "Fully lift the metal laptop using the right arm.",
+    "Lift the smooth textured laptop's lid upwards.",
+    "Raise the smooth textured laptop to expose the screen",
+    "Open the wood surrounded laptop completely.",
+    "Lift the keyboard laptop slightly.",
+    "Raise the silver laptop with black keyboard lid using the right arm.",
+    "Gently lift the wood surrounded laptop using the right arm"
+  ],
+  "unseen": [
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the right arm.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop using the right arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Grab the foldable laptop and open it.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the right arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the compact black laptop open with the left arm.",
+    "Grip and lift the foldable laptop with screen's lid.",
+    "Carefully open the black laptop with sharp rectangular edges using the left arm",
+    "Lift the black-and-blue laptop with keyboard's lid using the left arm.",
+    "Fully open the the portable laptop.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Push the medium-sized laptop for work's lid upward using the left arm.",
+    "Raise the black laptop with blue bottom panel lid with the left arm.",
+    "Open the black laptop with blue bottom panel lifting with the left arm",
+    "Pull the laptop for browsing and computing upward lightly.",
+    "With the left arm, open the rectangular laptop with foldable hinge's lid.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Raise the foldable laptop with screen to expose the screen",
+    "Lift the laptop for browsing and computing open with the left arm.",
+    "Open the black laptop with blue bottom panel carefully with the left arm.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Raise and open the portable laptop.",
+    "Pull the black-and-blue laptop with keyboard's lid upward.",
+    "Use the left arm to raise the portable laptop.",
+    "Raise the top of the laptop for browsing and computing",
+    "Gently lift the black laptop with sharp rectangular edges using the left arm",
+    "Hold the blue base black lid laptop steady, lift lid.",
+    "Gently open the foldable laptop with screen.",
+    "Open the black laptop with blue bottom panel entirely.",
+    "Lift the blue-black laptop to open it up",
+    "Lift the rectangular laptop with foldable hinge slightly.",
+    "Raise the medium-sized laptop for work using the left arm.",
+    "Gently raise the black laptop with sharp rectangular edges using the left arm.",
+    "Open the black-and-blue laptop with keyboard completely.",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Use the left arm to open the compact black laptop",
+    "Gently open the portable laptop upward.",
+    "Use the left arm to raise the foldable laptop with screen.",
+    "Raise the foldable laptop with screen's top section.",
+    "Lift the black laptop with sharp rectangular edges's lid upwards.",
+    "Fully lift the rectangular laptop with foldable hinge using the left arm.",
+    "Raise the medium-sized laptop for work lid using the left arm.",
+    "Pull open the black laptop with sharp rectangular edges",
+    "Pull the screen of the laptop for browsing and computing.",
+    "Lift the blue base black lid laptop lid completely.",
+    "Lift the medium-sized laptop for work to open.",
+    "Use the left arm to lift the blue-black laptop",
+    "Use the left arm to raise the blue-black laptop.",
+    "Pull the lid of the black laptop with sharp rectangular edges upward.",
+    "Raise the laptop for browsing and computing using the left arm firmly.",
+    "Lift and open the rectangular laptop with foldable hinge.",
+    "Raise the black-and-blue laptop with keyboard using the left arm.",
+    "Raise the lid of the portable laptop.",
+    "Pull up the lid of the laptop for browsing and computing",
+    "Slide the black-and-blue laptop with keyboard open with the left arm.",
+    "Pull the black laptop with sharp rectangular edges open with the left arm.",
+    "Grip and lift the blue bottom foldable black laptop's lid.",
+    "Carefully open the foldable laptop with screen using the left arm",
+    "Lift the blue base black lid laptop's lid using the left arm.",
+    "Fully open the the black laptop with sharp rectangular edges.",
+    "Use the left arm to open the portable laptop.",
+    "Push the compact black laptop's lid upward using the left arm.",
+    "Raise the medium-sized laptop for work lid with the left arm.",
+    "Open the black laptop with sharp rectangular edges lifting with the left arm",
+    "Pull the medium-sized laptop for work upward lightly.",
+    "With the left arm, open the rectangular laptop with foldable hinge's lid.",
+    "Use the left arm to open the blue base black lid laptop.",
+    "Raise the rectangular laptop with foldable hinge to expose the screen",
+    "Lift the laptop for browsing and computing open with the left arm.",
+    "Open the black-and-blue laptop with keyboard carefully with the left arm.",
+    "Open the black laptop with sharp rectangular edges by lifting its lid.",
+    "Raise and open the medium-sized laptop for work.",
+    "Pull the foldable laptop with screen's lid upward.",
+    "Use the left arm to raise the black laptop with sharp rectangular edges.",
+    "Raise the top of the black laptop with sharp rectangular edges",
+    "Gently lift the foldable laptop with screen using the left arm",
+    "Hold the foldable laptop with screen steady, lift lid.",
+    "Gently open the medium-sized laptop for work.",
+    "Open the black-and-blue laptop with keyboard entirely.",
+    "Lift the black laptop with blue bottom panel to open it up",
+    "Lift the black laptop with blue bottom panel slightly.",
+    "Raise the blue-black laptop using the left arm.",
+    "Gently raise the blue-black laptop using the left arm.",
+    "Open the black-and-blue laptop with keyboard completely.",
+    "Use the left arm to open the blue bottom foldable black laptop.",
+    "Use the left arm to open the blue base black lid laptop",
+    "Gently open the rectangular laptop with foldable hinge upward.",
+    "Use the left arm to raise the medium-sized laptop for work.",
+    "Raise the black laptop with sharp rectangular edges's top section.",
+    "Lift the compact black laptop's lid upwards.",
+    "Fully lift the rectangular laptop with foldable hinge using the left arm.",
+    "Raise the rectangular laptop with foldable hinge lid using the left arm.",
+    "Pull open the black laptop with sharp rectangular edges",
+    "Pull the screen of the compact black laptop.",
+    "Lift the medium-sized laptop for work lid completely.",
+    "Lift the laptop for browsing and computing to open.",
+    "Use the left arm to lift the medium-sized laptop for work",
+    "Use the left arm to raise the laptop for browsing and computing.",
+    "Pull the lid of the portable laptop upward.",
+    "Raise the portable laptop using the left arm firmly.",
+    "Lift and open the black-and-blue laptop with keyboard.",
+    "Raise the portable laptop using the left arm.",
+    "Raise the lid of the blue-black laptop.",
+    "Pull up the lid of the medium-sized laptop for work",
+    "Slide the medium-sized laptop for work open with the left arm."
+  ],
+  "unseen": [
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop using the left arm",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop using the left arm",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop using the left arm",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the black laptop with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the black laptop using the left arm",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Pull up the black laptop's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Lift the black laptop using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the black laptop carefully using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Pull up the smooth black plastic laptop's lid.",
+    "Open the black laptop with one motion.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Open the laptop with display and keyboard with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid with the right arm.",
+    "Open the black laptop carefully with the right arm.",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Raise the laptop with shiny black surface using the right arm firmly.",
+    "Lift the laptop with wide black lid to open.",
+    "Pull the rectangular laptop with folding hinge upward lightly.",
+    "Push the laptop featuring built-in keyboard's lid upward using the right arm.",
+    "Lift the laptop with shiny black surface's lid upwards.",
+    "Use the right arm to lift the laptop featuring built-in keyboard",
+    "Raise the laptop featuring built-in keyboard's top section.",
+    "Raise the laptop with silver buttons on keyboard lid using the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Carefully open the laptop with silver keyboard using the right arm",
+    "Lift the black laptop with smooth body to open it up",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Raise and open the rectangular laptop with smooth texture.",
+    "Pull the laptop with silver keyboard open with the right arm.",
+    "Pull the laptop with silver buttons on keyboard's lid upward.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Open the black laptop with smooth body completely.",
+    "Gently raise the laptop featuring built-in keyboard using the right arm.",
+    "Open the laptop with silver buttons on keyboard entirely.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Pull up the lid of the rectangular laptop with folding hinge",
+    "Fully lift the laptop with silver keyboard using the right arm.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Pull open the laptop featuring built-in keyboard",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Fully open the the black laptop with smooth body.",
+    "Use the right arm to open the laptop with rectangular display screen",
+    "Gently lift the laptop with shiny black surface using the right arm",
+    "Gently open the black laptop with smooth body upward.",
+    "Raise the top of the laptop with silver keyboard",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Open the laptop with rectangular display screen lifting with the right arm",
+    "Lift and open the laptop with shiny black surface.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Pull the screen of the laptop with silver keyboard.",
+    "Lift the rectangular laptop with folding hinge's lid using the right arm.",
+    "Lift the black laptop with smooth body lid completely.",
+    "Raise the rectangular laptop with smooth texture using the right arm.",
+    "Lift the rectangular laptop with smooth texture open with the right arm.",
+    "Pull the lid of the laptop with wide black lid upward.",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Slide the black laptop with smooth body open with the right arm.",
+    "Raise the laptop with shiny black surface lid with the right arm.",
+    "Open the rectangular laptop with smooth texture carefully with the right arm.",
+    "Gently open the laptop with rectangular display screen.",
+    "Raise the black laptop with smooth body using the right arm firmly.",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Pull the black laptop upward lightly.",
+    "Push the laptop with wide black lid's lid upward using the right arm.",
+    "Lift the laptop with wide black lid's lid upwards.",
+    "Use the right arm to lift the black laptop with smooth body",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Raise the laptop with rectangular display screen lid using the right arm.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Raise the rectangular laptop with folding hinge to expose the screen",
+    "Carefully open the black laptop with smooth body using the right arm",
+    "Lift the laptop with wide black lid to open it up",
+    "Grip and lift the clamshell laptop with flat screen's lid.",
+    "Raise and open the laptop with wide black lid.",
+    "Pull the laptop featuring built-in keyboard open with the right arm.",
+    "Pull the clamshell laptop with flat screen's lid upward.",
+    "Use the right arm to open the rectangular laptop with smooth texture.",
+    "Lift the black laptop slightly.",
+    "Raise the black laptop with smooth body using the right arm.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Open the rectangular laptop with smooth texture completely.",
+    "Gently raise the rectangular laptop with folding hinge using the right arm.",
+    "Open the laptop featuring built-in keyboard entirely.",
+    "Use the right arm to open the laptop with shiny black surface.",
+    "Pull up the lid of the rectangular laptop with folding hinge",
+    "Fully lift the black laptop with smooth body using the right arm.",
+    "Use the right arm to raise the laptop with silver buttons on keyboard.",
+    "Raise the lid of the black laptop with smooth body.",
+    "Pull open the black laptop",
+    "With the right arm, open the black laptop with smooth body's lid.",
+    "Fully open the the black laptop with smooth body.",
+    "Use the right arm to open the laptop with shiny black surface",
+    "Gently lift the laptop with shiny black surface using the right arm",
+    "Gently open the rectangular laptop with smooth texture upward.",
+    "Raise the top of the black laptop",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Use the right arm to raise the laptop with wide black lid.",
+    "Pull the screen of the black laptop with smooth body.",
+    "Lift the black laptop with smooth body's lid using the right arm.",
+    "Lift the laptop with shiny black surface lid completely.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Lift the laptop with wide black lid open with the right arm.",
+    "Pull the lid of the laptop with silver buttons on keyboard upward.",
+    "Open the laptop with wide black lid by lifting its lid."
+  ],
+  "unseen": [
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the laptop with smooth edges and flat case with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop with screen and keyboard to open it up",
+    "Lift and open the laptop featuring textured exterior.",
+    "Use the right arm to open the compact black laptop.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Gently open the black metallic laptop.",
+    "Grip and lift the lightweight laptop's lid.",
+    "Slide the sleek laptop design open with the right arm.",
+    "With the right arm, open the hinged laptop with screen and base's lid.",
+    "Raise the compact black laptop lid using the right arm.",
+    "Use the right arm to open the hinged laptop with screen and base.",
+    "Lift the black laptop lid completely.",
+    "Gently open the sleek laptop design upward.",
+    "Pull the laptop featuring textured exterior's lid upward.",
+    "Raise the black laptop with red accents's top section.",
+    "Open the laptop featuring textured exterior carefully with the right arm.",
+    "Carefully open the medium-sized laptop with black body using the right arm",
+    "Open the laptop featuring textured exterior lifting with the right arm",
+    "Raise the black laptop with red accents using the right arm.",
+    "Lift the hinged laptop with screen and base to open.",
+    "Use the right arm to open the hinged laptop with screen and base",
+    "Pull up the lid of the foldable laptop with patterned keyboard",
+    "Use the right arm to raise the foldable laptop with patterned keyboard.",
+    "Lift the black metallic laptop open with the right arm.",
+    "Fully lift the black metallic laptop using the right arm.",
+    "Raise the black metallic laptop to expose the screen",
+    "Pull open the black laptop",
+    "Gently raise the laptop with screen and keyboard using the right arm.",
+    "Pull the screen of the laptop with red logo underside.",
+    "Raise and open the laptop featuring textured exterior.",
+    "Lift the laptop with red logo underside's lid upwards.",
+    "Raise the lid of the lightweight laptop.",
+    "Gently lift the lightweight laptop using the right arm",
+    "Use the right arm to open the compact black laptop.",
+    "Raise the lightweight laptop using the right arm firmly.",
+    "Use the right arm to lift the hinged laptop with screen and base",
+    "Open the foldable laptop with patterned keyboard by lifting its lid.",
+    "Pull the black laptop with red accents upward lightly.",
+    "Use the right arm to raise the sleek laptop design.",
+    "Use the right arm to raise the sleek laptop design.",
+    "Raise the black metallic laptop using the right arm.",
+    "Raise the black laptop with red accents lid with the right arm.",
+    "Lift the compact black laptop slightly.",
+    "Raise the top of the medium-sized laptop with black body",
+    "Pull the black metallic laptop open with the right arm.",
+    "Open the lightweight laptop completely.",
+    "Open the medium-sized laptop with black body entirely.",
+    "Pull the lid of the compact black laptop upward.",
+    "Fully open the the lightweight laptop.",
+    "Lift the black laptop's lid using the right arm.",
+    "Push the laptop with screen and keyboard's lid upward using the right arm.",
+    "Lift the black laptop to open it up",
+    "Lift and open the black laptop.",
+    "Use the right arm to open the hinged laptop with screen and base.",
+    "Hold the black laptop with red accents steady, lift lid.",
+    "Gently open the laptop featuring textured exterior.",
+    "Grip and lift the laptop featuring textured exterior's lid.",
+    "Slide the medium-sized laptop with black body open with the right arm.",
+    "With the right arm, open the hinged laptop with screen and base's lid.",
+    "Raise the black laptop lid using the right arm.",
+    "Use the right arm to open the laptop with red logo underside.",
+    "Lift the laptop featuring textured exterior lid completely.",
+    "Gently open the laptop featuring textured exterior upward.",
+    "Pull the hinged laptop with screen and base's lid upward.",
+    "Raise the laptop featuring textured exterior's top section.",
+    "Open the black laptop with red accents carefully with the right arm.",
+    "Carefully open the medium-sized laptop with black body using the right arm",
+    "Open the laptop featuring textured exterior lifting with the right arm",
+    "Raise the foldable laptop with patterned keyboard using the right arm.",
+    "Lift the lightweight laptop to open.",
+    "Use the right arm to open the hinged laptop with screen and base",
+    "Pull up the lid of the laptop featuring textured exterior",
+    "Use the right arm to raise the medium-sized laptop with black body.",
+    "Lift the black laptop with red accents open with the right arm.",
+    "Fully lift the foldable laptop with patterned keyboard using the right arm.",
+    "Raise the hinged laptop with screen and base to expose the screen",
+    "Pull open the black laptop with red accents",
+    "Gently raise the laptop with red logo underside using the right arm.",
+    "Pull the screen of the laptop with screen and keyboard.",
+    "Raise and open the hinged laptop with screen and base.",
+    "Lift the black laptop with red accents's lid upwards.",
+    "Raise the lid of the hinged laptop with screen and base.",
+    "Gently lift the lightweight laptop using the right arm",
+    "Use the right arm to open the sleek laptop design.",
+    "Raise the black laptop with red accents using the right arm firmly.",
+    "Use the right arm to lift the hinged laptop with screen and base",
+    "Open the sleek laptop design by lifting its lid.",
+    "Pull the black metallic laptop upward lightly.",
+    "Use the right arm to raise the black metallic laptop.",
+    "Use the right arm to raise the laptop with red logo underside.",
+    "Raise the laptop featuring textured exterior using the right arm.",
+    "Raise the black metallic laptop lid with the right arm.",
+    "Lift the sleek laptop design slightly.",
+    "Raise the top of the laptop with red logo underside",
+    "Pull the black laptop open with the right arm.",
+    "Open the compact black laptop completely.",
+    "Open the hinged laptop with screen and base entirely.",
+    "Pull the lid of the lightweight laptop upward.",
+    "Fully open the the medium-sized laptop with black body.",
+    "Lift the black metallic laptop's lid using the right arm.",
+    "Push the black laptop with red accents's lid upward using the right arm."
+  ],
+  "unseen": [
+    "Pull up the portable laptop's lid.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the laptop with patterned keyboard surface using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Lift the rectangular laptop with smooth finish using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the laptop with patterned keyboard surface's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the portable laptop carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the portable laptop using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the portable laptop's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the laptop with patterned keyboard surface and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the laptop with patterned keyboard surface with care",
+    "Open the portable laptop using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the rectangular laptop with smooth finish with one motion.",
+    "Grab the portable laptop and open it.",
+    "Lift the rectangular laptop with smooth finish's lid fully.",
+    "Lift the portable laptop using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the portable laptop's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the rectangular laptop with smooth finish using the right arm",
+    "Lift the portable laptop using the right arm.",
+    "Lift the portable laptop's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the portable laptop with care",
+    "Open the portable laptop using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the portable laptop with one motion.",
+    "Grab the portable laptop and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the laptop with patterned keyboard surface's lid gently.",
+    "Open the rectangular laptop with smooth finish carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the rectangular laptop with smooth finish using the right arm.",
+    "Pull up the rectangular laptop with smooth finish's lid.",
+    "Open the laptop with patterned keyboard surface with one motion.",
+    "Grab the rectangular laptop with smooth finish and open it.",
+    "Lift the laptop with patterned keyboard surface's lid fully.",
+    "Lift the laptop with patterned keyboard surface using the right arm",
+    "Lift the laptop with patterned keyboard surface using the right arm.",
+    "Lift the rectangular laptop with smooth finish's lid gently.",
+    "Open the laptop with patterned keyboard surface carefully using the right arm.",
+    "Open the rectangular laptop with smooth finish with care",
+    "Open the portable laptop using the right arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the black laptop with smooth body using the right arm firmly.",
+    "Lift the black and silver portable laptop open with the right arm.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to open the laptop with wide black lid.",
+    "Use the right arm to lift the laptop featuring built-in keyboard",
+    "Open the black and silver portable laptop by lifting its lid.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Lift the clamshell laptop with flat screen's lid upwards.",
+    "Lift and open the black and silver portable laptop.",
+    "Pull the laptop with silver keyboard's lid upward.",
+    "Fully open the the rectangular laptop with smooth texture.",
+    "Gently lift the black laptop using the right arm",
+    "Raise the lid of the black and silver portable laptop.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the top of the clamshell laptop with flat screen",
+    "Gently raise the black laptop using the right arm.",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Pull the screen of the laptop with wide black lid.",
+    "Lift the clamshell laptop with flat screen lid completely.",
+    "Carefully open the laptop with rectangular display screen using the right arm",
+    "Raise the laptop with silver keyboard lid with the right arm.",
+    "Open the clamshell laptop with flat screen completely.",
+    "Pull the black laptop with smooth body upward lightly.",
+    "Raise the laptop with shiny black surface lid using the right arm.",
+    "Gently open the rectangular laptop with folding hinge upward.",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "Open the rectangular laptop with smooth texture entirely.",
+    "Lift the laptop with wide black lid to open it up",
+    "Slide the laptop with silver buttons on keyboard open with the right arm.",
+    "Use the right arm to raise the black laptop.",
+    "Raise the clamshell laptop with flat screen to expose the screen",
+    "Pull the laptop featuring built-in keyboard open with the right arm.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Lift the laptop with wide black lid slightly.",
+    "Pull the lid of the clamshell laptop with flat screen upward.",
+    "Raise and open the laptop with silver buttons on keyboard.",
+    "Lift the clamshell laptop with flat screen's lid using the right arm.",
+    "Hold the laptop with rectangular display screen steady, lift lid.",
+    "Pull up the lid of the rectangular laptop with folding hinge",
+    "Use the right arm to open the black and silver portable laptop",
+    "Gently open the black and silver portable laptop.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Raise the laptop with silver buttons on keyboard using the right arm.",
+    "Open the black laptop with smooth body lifting with the right arm",
+    "Push the black and silver portable laptop's lid upward using the right arm.",
+    "Fully lift the rectangular laptop with folding hinge using the right arm.",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Raise the laptop with silver keyboard's top section.",
+    "Pull open the black laptop with smooth body",
+    "Raise the laptop with wide black lid using the right arm.",
+    "Raise the laptop with wide black lid using the right arm firmly.",
+    "Lift the laptop with silver keyboard open with the right arm.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Use the right arm to open the laptop with silver buttons on keyboard.",
+    "Use the right arm to lift the laptop with rectangular display screen",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Lift and open the laptop featuring built-in keyboard.",
+    "Pull the black and silver portable laptop's lid upward.",
+    "Fully open the the laptop featuring built-in keyboard.",
+    "Gently lift the rectangular laptop with smooth texture using the right arm",
+    "Raise the lid of the laptop featuring built-in keyboard.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Raise the top of the black laptop",
+    "Gently raise the laptop with silver buttons on keyboard using the right arm.",
+    "With the right arm, open the laptop with wide black lid's lid.",
+    "Pull the screen of the clamshell laptop with flat screen.",
+    "Lift the rectangular laptop with smooth texture lid completely.",
+    "Carefully open the black and silver portable laptop using the right arm",
+    "Raise the black laptop lid with the right arm.",
+    "Open the laptop with shiny black surface completely.",
+    "Pull the laptop with shiny black surface upward lightly.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Gently open the black and silver portable laptop upward.",
+    "Open the laptop with wide black lid carefully with the right arm.",
+    "Open the laptop with shiny black surface entirely.",
+    "Lift the black laptop with smooth body to open it up",
+    "Slide the laptop with shiny black surface open with the right arm.",
+    "Use the right arm to raise the laptop featuring built-in keyboard.",
+    "Raise the laptop with wide black lid to expose the screen",
+    "Pull the laptop with rectangular display screen open with the right arm.",
+    "Use the right arm to open the black laptop.",
+    "Lift the laptop with wide black lid slightly.",
+    "Pull the lid of the laptop featuring built-in keyboard upward.",
+    "Raise and open the laptop with shiny black surface.",
+    "Lift the rectangular laptop with smooth texture's lid using the right arm.",
+    "Hold the laptop with silver keyboard steady, lift lid.",
+    "Pull up the lid of the laptop with rectangular display screen",
+    "Use the right arm to open the black and silver portable laptop",
+    "Gently open the laptop with wide black lid.",
+    "Use the right arm to raise the laptop with silver keyboard.",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Open the laptop with silver buttons on keyboard lifting with the right arm",
+    "Push the black and silver portable laptop's lid upward using the right arm.",
+    "Fully lift the rectangular laptop with smooth texture using the right arm.",
+    "Lift the laptop with silver buttons on keyboard to open.",
+    "Raise the laptop with shiny black surface's top section.",
+    "Pull open the rectangular laptop with folding hinge",
+    "Raise the black laptop with smooth body using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the medium laptop with black case with care",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the medium laptop with black case and open it.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with black cover and bottom with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the medium laptop with black case with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Pull up the medium laptop with black case's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the medium laptop with black case with one motion.",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Lift the medium laptop with black case using the right arm",
+    "Open the laptop with smooth edges and flat case with care",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case using the right arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Lift the medium laptop with black case's lid gently."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Gently open the keyboard laptop.",
+    "Gently open the keyboard laptop upward.",
+    "Open the medium foldable silver laptop lifting with the left arm",
+    "Lift and open the keyboard laptop.",
+    "Fully lift the metal laptop using the left arm.",
+    "With the left arm, open the silver laptop's lid.",
+    "Open the silver laptop with black keyboard completely.",
+    "Raise the silver laptop with black keyboard lid with the left arm.",
+    "Raise the laptop with black textured screen lid using the left arm.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Fully open the the laptop with black textured screen.",
+    "Raise the metal laptop using the left arm.",
+    "Raise the laptop with black textured screen to expose the screen",
+    "Use the left arm to open the silver laptop with black keyboard.",
+    "Raise the smooth textured laptop's top section.",
+    "Open the medium foldable silver laptop carefully with the left arm.",
+    "Grip and lift the silver laptop's lid.",
+    "Use the left arm to open the silver laptop with foldable parts",
+    "Push the laptop with wood panel background's lid upward using the left arm.",
+    "Lift the black screen laptop slightly.",
+    "Use the left arm to raise the medium foldable silver laptop.",
+    "Pull the laptop with wood panel background upward lightly.",
+    "Pull open the keyboard laptop",
+    "Lift the wood surrounded laptop open with the left arm.",
+    "Lift the laptop with black textured screen to open it up",
+    "Pull the lid of the keyboard laptop upward.",
+    "Open the wood surrounded laptop entirely.",
+    "Lift the metal laptop lid completely.",
+    "Lift the black and silver laptop to open.",
+    "Open the keyboard laptop by lifting its lid.",
+    "Pull the silver laptop's lid upward.",
+    "Pull up the lid of the keyboard laptop",
+    "Raise the top of the wood surrounded laptop",
+    "Gently raise the black and silver laptop using the left arm.",
+    "Gently lift the wood surrounded laptop using the left arm",
+    "Raise the lid of the black screen laptop.",
+    "Raise and open the laptop with wood panel background.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Use the left arm to open the laptop with wood panel background.",
+    "Use the left arm to open the black and silver laptop.",
+    "Use the left arm to raise the laptop with wood panel background.",
+    "Carefully open the black screen laptop using the left arm",
+    "Pull the keyboard laptop open with the left arm.",
+    "Raise the keyboard laptop using the left arm.",
+    "Slide the laptop with wood panel background open with the left arm.",
+    "Pull the screen of the silver laptop with foldable parts.",
+    "Use the left arm to lift the keyboard laptop",
+    "Lift the wood surrounded laptop's lid using the left arm.",
+    "Raise the metal laptop using the left arm firmly.",
+    "Lift the wood surrounded laptop's lid upwards.",
+    "Gently open the laptop with black textured screen.",
+    "Gently open the laptop with black textured screen upward.",
+    "Open the medium foldable silver laptop lifting with the left arm",
+    "Lift and open the laptop with wood panel background.",
+    "Fully lift the silver laptop with black keyboard using the left arm.",
+    "With the left arm, open the laptop with wood panel background's lid.",
+    "Open the laptop with wood panel background completely.",
+    "Raise the silver laptop with black keyboard lid with the left arm.",
+    "Raise the silver laptop with black keyboard lid using the left arm.",
+    "Hold the smooth textured laptop steady, lift lid.",
+    "Fully open the the black and silver laptop.",
+    "Raise the medium foldable silver laptop using the left arm.",
+    "Raise the medium foldable silver laptop to expose the screen",
+    "Use the left arm to open the smooth textured laptop.",
+    "Raise the metal laptop's top section.",
+    "Open the metal laptop carefully with the left arm.",
+    "Grip and lift the silver laptop's lid.",
+    "Use the left arm to open the silver laptop",
+    "Push the black screen laptop's lid upward using the left arm.",
+    "Lift the keyboard laptop slightly.",
+    "Use the left arm to raise the metal laptop.",
+    "Pull the silver laptop with foldable parts upward lightly.",
+    "Pull open the black screen laptop",
+    "Lift the laptop with black textured screen open with the left arm.",
+    "Lift the black and silver laptop to open it up",
+    "Pull the lid of the laptop with black textured screen upward.",
+    "Open the silver laptop with foldable parts entirely.",
+    "Lift the black and silver laptop lid completely.",
+    "Lift the black and silver laptop to open.",
+    "Open the smooth textured laptop by lifting its lid.",
+    "Pull the laptop with black textured screen's lid upward.",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Raise the top of the keyboard laptop",
+    "Gently raise the wood surrounded laptop using the left arm.",
+    "Gently lift the laptop with black textured screen using the left arm",
+    "Raise the lid of the laptop with black textured screen.",
+    "Raise and open the black and silver laptop.",
+    "Use the left arm to raise the silver laptop.",
+    "Use the left arm to open the metal laptop.",
+    "Use the left arm to open the medium foldable silver laptop.",
+    "Use the left arm to raise the smooth textured laptop.",
+    "Carefully open the metal laptop using the left arm",
+    "Pull the medium foldable silver laptop open with the left arm.",
+    "Raise the black screen laptop using the left arm.",
+    "Slide the keyboard laptop open with the left arm.",
+    "Pull the screen of the black and silver laptop.",
+    "Use the left arm to lift the laptop with black textured screen",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Raise the laptop with wood panel background using the left arm firmly."
+  ],
+  "unseen": [
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the medium laptop with silver body using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the foldable laptop with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Open the foldable laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the laptop with glossy black display and open it.",
+    "Open the medium laptop with silver body with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body carefully using the left arm.",
+    "Grab the medium laptop with silver body and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display using the left arm.",
+    "Lift the medium laptop with silver body using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the laptop with glossy black display using the left arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display carefully using the left arm.",
+    "Grab the foldable laptop and open it.",
+    "Open the laptop with glossy black display with one motion.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body using the left arm.",
+    "Lift the laptop with glossy black display using the left arm",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Lift the medium laptop with silver body using the left arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carefully open the clamshell laptop with flat screen using the right arm",
+    "Lift the clamshell laptop with flat screen open with the right arm.",
+    "Use the right arm to raise the rectangular laptop with smooth texture.",
+    "Lift the clamshell laptop with flat screen to open it up",
+    "Hold the black laptop steady, lift lid.",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Use the right arm to open the laptop with silver buttons on keyboard",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Open the black laptop with smooth body entirely.",
+    "Fully lift the laptop with wide black lid using the right arm.",
+    "Fully open the the black laptop with smooth body.",
+    "Gently open the black and silver portable laptop.",
+    "Use the right arm to open the laptop with rectangular display screen.",
+    "Raise the black and silver portable laptop using the right arm firmly.",
+    "Gently raise the laptop with shiny black surface using the right arm.",
+    "Pull the lid of the black laptop upward.",
+    "Raise the rectangular laptop with smooth texture to expose the screen",
+    "Lift the black and silver portable laptop lid completely.",
+    "Slide the rectangular laptop with folding hinge open with the right arm.",
+    "Pull open the black and silver portable laptop",
+    "Use the right arm to open the laptop with silver keyboard.",
+    "Lift the laptop with rectangular display screen's lid upwards.",
+    "Use the right arm to open the black laptop with smooth body.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise and open the black laptop.",
+    "Gently open the laptop with rectangular display screen upward.",
+    "Use the right arm to raise the laptop with shiny black surface.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Open the laptop with shiny black surface by lifting its lid.",
+    "Raise the rectangular laptop with folding hinge's top section.",
+    "Raise the laptop with shiny black surface lid with the right arm.",
+    "Lift the rectangular laptop with smooth texture's lid using the right arm.",
+    "Raise the rectangular laptop with folding hinge lid using the right arm.",
+    "Lift the rectangular laptop with folding hinge to open.",
+    "Gently lift the laptop with shiny black surface using the right arm",
+    "Raise the top of the black laptop",
+    "With the right arm, open the rectangular laptop with folding hinge's lid.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Open the laptop with wide black lid lifting with the right arm",
+    "Use the right arm to lift the black laptop with smooth body",
+    "Raise the laptop with silver keyboard using the right arm.",
+    "Raise the lid of the laptop with silver buttons on keyboard.",
+    "Open the black and silver portable laptop carefully with the right arm.",
+    "Pull the rectangular laptop with folding hinge open with the right arm.",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Raise the laptop with shiny black surface using the right arm.",
+    "Lift the black laptop with smooth body slightly.",
+    "Push the laptop with shiny black surface's lid upward using the right arm.",
+    "Open the laptop featuring built-in keyboard completely.",
+    "Pull the rectangular laptop with smooth texture's lid upward.",
+    "Carefully open the rectangular laptop with folding hinge using the right arm",
+    "Lift the black laptop open with the right arm.",
+    "Use the right arm to raise the rectangular laptop with folding hinge.",
+    "Lift the laptop with rectangular display screen to open it up",
+    "Hold the laptop with wide black lid steady, lift lid.",
+    "Pull up the lid of the laptop with shiny black surface",
+    "Use the right arm to open the black and silver portable laptop",
+    "Pull the rectangular laptop with smooth texture upward lightly.",
+    "Open the black laptop entirely.",
+    "Fully lift the laptop with shiny black surface using the right arm.",
+    "Fully open the the black laptop.",
+    "Gently open the laptop featuring built-in keyboard.",
+    "Use the right arm to open the clamshell laptop with flat screen.",
+    "Raise the laptop with rectangular display screen using the right arm firmly.",
+    "Gently raise the clamshell laptop with flat screen using the right arm.",
+    "Pull the lid of the laptop with rectangular display screen upward.",
+    "Raise the laptop featuring built-in keyboard to expose the screen",
+    "Lift the rectangular laptop with smooth texture lid completely.",
+    "Slide the rectangular laptop with smooth texture open with the right arm.",
+    "Pull open the clamshell laptop with flat screen",
+    "Use the right arm to open the black and silver portable laptop.",
+    "Lift the laptop with silver buttons on keyboard's lid upwards.",
+    "Use the right arm to open the laptop featuring built-in keyboard.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Raise and open the laptop with rectangular display screen.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Use the right arm to raise the laptop with rectangular display screen.",
+    "Use the right arm to raise the clamshell laptop with flat screen.",
+    "Open the clamshell laptop with flat screen by lifting its lid.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Raise the black and silver portable laptop lid with the right arm.",
+    "Lift the laptop with rectangular display screen's lid using the right arm.",
+    "Raise the laptop with silver buttons on keyboard lid using the right arm.",
+    "Lift the laptop with shiny black surface to open.",
+    "Gently lift the black laptop with smooth body using the right arm",
+    "Raise the top of the laptop with shiny black surface",
+    "With the right arm, open the laptop featuring built-in keyboard's lid.",
+    "Grip and lift the black laptop with smooth body's lid.",
+    "Open the rectangular laptop with smooth texture lifting with the right arm",
+    "Use the right arm to lift the clamshell laptop with flat screen",
+    "Raise the clamshell laptop with flat screen using the right arm.",
+    "Raise the lid of the rectangular laptop with smooth texture.",
+    "Open the rectangular laptop with folding hinge carefully with the right arm.",
+    "Pull the laptop with rectangular display screen open with the right arm.",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Raise the laptop featuring built-in keyboard using the right arm.",
+    "Lift the black laptop slightly.",
+    "Push the black laptop with smooth body's lid upward using the right arm.",
+    "Open the black and silver portable laptop completely.",
+    "Pull the rectangular laptop with smooth texture's lid upward."
+  ],
+  "unseen": [
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with black cover and bottom carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with black cover and bottom using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with black cover and bottom with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the medium laptop with black case using the right arm",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case using the right arm.",
+    "Open the medium laptop with black case with care",
+    "Open the medium laptop with black case carefully using the right arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case using the right arm.",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Lift the laptop with smooth edges and flat case using the right arm",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case using the right arm.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Open the laptop with smooth edges and flat case carefully using the right arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case using the right arm.",
+    "Pull up the medium laptop with black case's lid.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Lift the medium laptop with black case using the right arm"
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the laptop with wide black lid open with the left arm.",
+    "Gently open the black and silver portable laptop upward.",
+    "Use the left arm to open the clamshell laptop with flat screen.",
+    "Open the laptop with shiny black surface carefully with the left arm.",
+    "Fully lift the laptop with rectangular display screen using the left arm.",
+    "Push the black laptop's lid upward using the left arm.",
+    "Pull the clamshell laptop with flat screen's lid upward.",
+    "Open the black and silver portable laptop entirely.",
+    "Pull open the laptop with wide black lid",
+    "Use the left arm to raise the clamshell laptop with flat screen.",
+    "Lift the rectangular laptop with folding hinge's lid upwards.",
+    "Grip and lift the black laptop's lid.",
+    "Use the left arm to open the laptop with wide black lid.",
+    "Open the black laptop with smooth body lifting with the left arm",
+    "Use the left arm to open the laptop with silver buttons on keyboard",
+    "Raise and open the laptop with shiny black surface.",
+    "Lift the clamshell laptop with flat screen to open it up",
+    "Fully open the the rectangular laptop with folding hinge.",
+    "Lift the black laptop's lid using the left arm.",
+    "Raise the top of the rectangular laptop with folding hinge",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Open the black laptop completely.",
+    "Lift the black laptop with smooth body to open.",
+    "Pull the screen of the laptop featuring built-in keyboard.",
+    "Pull the lid of the laptop with wide black lid upward.",
+    "Raise the laptop with silver buttons on keyboard using the left arm firmly.",
+    "Raise the black laptop with smooth body lid with the left arm.",
+    "Raise the rectangular laptop with folding hinge using the left arm.",
+    "Carefully open the laptop with silver keyboard using the left arm",
+    "Hold the laptop with shiny black surface steady, lift lid.",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Lift the black and silver portable laptop lid completely.",
+    "Raise the lid of the clamshell laptop with flat screen.",
+    "Raise the black laptop with smooth body to expose the screen",
+    "Pull up the lid of the laptop with silver keyboard",
+    "Gently lift the clamshell laptop with flat screen using the left arm",
+    "Gently open the laptop with wide black lid.",
+    "Use the left arm to open the black laptop.",
+    "With the left arm, open the rectangular laptop with smooth texture's lid.",
+    "Open the laptop featuring built-in keyboard by lifting its lid.",
+    "Use the left arm to lift the black and silver portable laptop",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Lift and open the black and silver portable laptop.",
+    "Gently raise the laptop with silver buttons on keyboard using the left arm.",
+    "Lift the laptop with wide black lid open with the left arm.",
+    "Lift the laptop with rectangular display screen slightly.",
+    "Raise the laptop with shiny black surface using the left arm.",
+    "Raise the laptop featuring built-in keyboard's top section.",
+    "Pull the laptop with wide black lid open with the left arm.",
+    "Raise the laptop with shiny black surface lid using the left arm.",
+    "Slide the black laptop with smooth body open with the left arm.",
+    "Gently open the laptop featuring built-in keyboard upward.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Open the laptop with shiny black surface carefully with the left arm.",
+    "Fully lift the rectangular laptop with smooth texture using the left arm.",
+    "Push the laptop with shiny black surface's lid upward using the left arm.",
+    "Pull the black and silver portable laptop's lid upward.",
+    "Open the black laptop entirely.",
+    "Pull open the laptop featuring built-in keyboard",
+    "Use the left arm to raise the laptop featuring built-in keyboard.",
+    "Lift the black laptop's lid upwards.",
+    "Grip and lift the rectangular laptop with folding hinge's lid.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Open the rectangular laptop with folding hinge lifting with the left arm",
+    "Use the left arm to open the clamshell laptop with flat screen",
+    "Raise and open the laptop featuring built-in keyboard.",
+    "Lift the black laptop to open it up",
+    "Fully open the the black laptop with smooth body.",
+    "Lift the black laptop with smooth body's lid using the left arm.",
+    "Raise the top of the black laptop",
+    "Use the left arm to raise the black and silver portable laptop.",
+    "Open the black and silver portable laptop completely.",
+    "Lift the black laptop to open.",
+    "Pull the screen of the laptop with shiny black surface.",
+    "Pull the lid of the black and silver portable laptop upward.",
+    "Raise the laptop with wide black lid using the left arm firmly.",
+    "Raise the laptop with wide black lid lid with the left arm.",
+    "Raise the black and silver portable laptop using the left arm.",
+    "Carefully open the laptop with silver keyboard using the left arm",
+    "Hold the clamshell laptop with flat screen steady, lift lid.",
+    "Use the left arm to raise the laptop with wide black lid.",
+    "Lift the laptop with silver keyboard lid completely.",
+    "Raise the lid of the black laptop.",
+    "Raise the laptop with wide black lid to expose the screen",
+    "Pull up the lid of the laptop with silver buttons on keyboard",
+    "Gently lift the rectangular laptop with smooth texture using the left arm",
+    "Gently open the clamshell laptop with flat screen.",
+    "Use the left arm to open the rectangular laptop with smooth texture.",
+    "With the left arm, open the rectangular laptop with smooth texture's lid.",
+    "Open the laptop with silver buttons on keyboard by lifting its lid.",
+    "Use the left arm to lift the laptop with wide black lid",
+    "Pull the clamshell laptop with flat screen upward lightly.",
+    "Lift and open the laptop with silver buttons on keyboard.",
+    "Gently raise the rectangular laptop with folding hinge using the left arm.",
+    "Lift the black laptop with smooth body open with the left arm.",
+    "Lift the rectangular laptop with smooth texture slightly.",
+    "Raise the laptop with silver buttons on keyboard using the left arm.",
+    "Raise the clamshell laptop with flat screen's top section.",
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Raise the laptop with wide black lid lid using the left arm."
+  ],
+  "unseen": [
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the left arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with smooth edges and flat case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the left arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the medium laptop with black case and open it.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Pull up the laptop with black cover and bottom's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with smooth edges and flat case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with black cover and bottom with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the medium laptop with black case using the left arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with black cover and bottom using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the medium laptop with black case carefully using the left arm.",
+    "Lift the laptop with smooth edges and flat case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with smooth edges and flat case using the left arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the medium laptop with black case using the left arm.",
+    "Lift the laptop with black cover and bottom using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the laptop with black cover and bottom's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the laptop with black cover and bottom with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with smooth edges and flat case carefully using the left arm.",
+    "Lift the laptop with black cover and bottom's lid fully.",
+    "Open the laptop with smooth edges and flat case with care",
+    "Grab the laptop with black cover and bottom and open it.",
+    "Lift the laptop with black cover and bottom using the left arm",
+    "Pull up the medium laptop with black case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the medium laptop with black case using the left arm.",
+    "Open the medium laptop with black case with one motion.",
+    "Lift the medium laptop with black case's lid gently.",
+    "Open the laptop with black cover and bottom carefully using the left arm.",
+    "Lift the medium laptop with black case's lid fully.",
+    "Open the medium laptop with black case with care",
+    "Grab the laptop with smooth edges and flat case and open it.",
+    "Lift the medium laptop with black case using the left arm",
+    "Pull up the laptop with smooth edges and flat case's lid.",
+    "Open the laptop with smooth edges and flat case using the left arm.",
+    "Lift the laptop with smooth edges and flat case using the left arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull up the lid of the blue-screen laptop with flat keys",
+    "Gently open the black laptop upward.",
+    "Raise the laptop with rectangular base using the left arm.",
+    "Raise the laptop with blue screen using the left arm firmly.",
+    "Fully open the the black laptop.",
+    "Lift the portable folding laptop slightly.",
+    "Gently lift the folding laptop with black exterior using the left arm",
+    "Lift the laptop with rectangular base lid completely.",
+    "Raise and open the portable folding laptop.",
+    "Open the black laptop completely.",
+    "Pull the screen and keyboard laptop's lid upward.",
+    "Fully lift the folding laptop with black exterior using the left arm.",
+    "Raise the rectangular black laptop's top section.",
+    "Lift the laptop with rectangular base to open it up",
+    "Use the left arm to open the sleek black laptop with blue monitor.",
+    "Use the left arm to raise the rectangular black laptop.",
+    "Use the left arm to open the laptop with blue screen",
+    "Raise the lid of the sleek black laptop with blue monitor.",
+    "Raise the laptop with smooth keyboard area using the left arm.",
+    "Lift the black plastic laptop with blue display open with the left arm.",
+    "Use the left arm to open the black laptop.",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Open the black plastic laptop with blue display by lifting its lid.",
+    "Lift the sleek black laptop with blue monitor to open.",
+    "Use the left arm to open the black laptop.",
+    "Use the left arm to lift the sleek black laptop with blue monitor",
+    "Hold the laptop with smooth keyboard area steady, lift lid.",
+    "Gently open the laptop with smooth matte surface.",
+    "Open the laptop with rectangular base carefully with the left arm.",
+    "Carefully open the laptop with blue screen using the left arm",
+    "Lift the black plastic laptop with blue display's lid using the left arm.",
+    "Use the left arm to raise the black laptop.",
+    "Lift and open the portable folding laptop.",
+    "Use the left arm to raise the laptop with smooth keyboard area.",
+    "Push the blue-screen laptop with flat keys's lid upward using the left arm.",
+    "Lift the laptop with blue screen's lid upwards.",
+    "Gently raise the laptop with rectangular base using the left arm.",
+    "Pull open the laptop with smooth matte surface",
+    "Grip and lift the laptop with rectangular base's lid.",
+    "Pull the lid of the portable folding laptop upward.",
+    "Pull the sleek black laptop with blue monitor open with the left arm.",
+    "Raise the top of the black plastic laptop with blue display",
+    "Raise the screen and keyboard laptop lid using the left arm.",
+    "Slide the laptop with blue screen open with the left arm.",
+    "Raise the portable folding laptop to expose the screen",
+    "With the left arm, open the sleek black laptop with blue monitor's lid.",
+    "Pull the screen and keyboard laptop upward lightly.",
+    "Pull the screen of the screen and keyboard laptop.",
+    "Open the laptop with rectangular base entirely.",
+    "Raise the laptop with blue screen lid with the left arm.",
+    "Pull up the lid of the black laptop",
+    "Gently open the laptop with rectangular base upward.",
+    "Raise the laptop with rectangular base using the left arm.",
+    "Raise the laptop with smooth keyboard area using the left arm firmly.",
+    "Fully open the the rectangular black laptop.",
+    "Lift the blue-screen laptop with flat keys slightly.",
+    "Gently lift the folding laptop with black exterior using the left arm",
+    "Lift the laptop with rectangular base lid completely.",
+    "Raise and open the laptop with rectangular base.",
+    "Open the folding laptop with black exterior completely.",
+    "Pull the black plastic laptop with blue display's lid upward.",
+    "Fully lift the rectangular black laptop using the left arm.",
+    "Raise the screen and keyboard laptop's top section.",
+    "Lift the screen and keyboard laptop to open it up",
+    "Use the left arm to open the laptop with rectangular base.",
+    "Use the left arm to raise the folding laptop with black exterior.",
+    "Use the left arm to open the laptop with blue screen",
+    "Raise the lid of the blue-screen laptop with flat keys.",
+    "Raise the laptop with smooth matte surface using the left arm.",
+    "Lift the laptop with rectangular base open with the left arm.",
+    "Use the left arm to open the blue-screen laptop with flat keys.",
+    "Open the laptop with blue screen lifting with the left arm",
+    "Open the blue-screen laptop with flat keys by lifting its lid.",
+    "Lift the blue-screen laptop with flat keys to open.",
+    "Use the left arm to open the black plastic laptop with blue display.",
+    "Use the left arm to lift the laptop with smooth keyboard area",
+    "Hold the black laptop steady, lift lid.",
+    "Gently open the black plastic laptop with blue display.",
+    "Open the black laptop carefully with the left arm.",
+    "Carefully open the folding laptop with black exterior using the left arm",
+    "Lift the screen and keyboard laptop's lid using the left arm.",
+    "Use the left arm to raise the black plastic laptop with blue display.",
+    "Lift and open the laptop with smooth matte surface.",
+    "Use the left arm to raise the portable folding laptop.",
+    "Push the sleek black laptop with blue monitor's lid upward using the left arm.",
+    "Lift the portable folding laptop's lid upwards.",
+    "Gently raise the sleek black laptop with blue monitor using the left arm.",
+    "Pull open the black plastic laptop with blue display",
+    "Grip and lift the portable folding laptop's lid.",
+    "Pull the lid of the laptop with blue screen upward.",
+    "Pull the folding laptop with black exterior open with the left arm.",
+    "Raise the top of the laptop with smooth keyboard area",
+    "Raise the portable folding laptop lid using the left arm.",
+    "Slide the rectangular black laptop open with the left arm.",
+    "Raise the blue-screen laptop with flat keys to expose the screen",
+    "With the left arm, open the laptop with blue screen's lid.",
+    "Pull the blue-screen laptop with flat keys upward lightly.",
+    "Pull the screen of the blue-screen laptop with flat keys.",
+    "Open the folding laptop with black exterior entirely.",
+    "Raise the blue-screen laptop with flat keys lid with the left arm."
+  ],
+  "unseen": [
+    "Lift the black laptop with compact design using the left arm",
+    "Open the medium-sized black laptop with care",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Open the black laptop with compact design with care",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Grab the black laptop with compact design and open it.",
+    "Open the medium-sized black laptop using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the medium-sized black laptop using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with shiny hinges's lid gently.",
+    "Lift the medium-sized black laptop using the left arm",
+    "Open the black laptop with shiny hinges with care",
+    "Open the medium-sized black laptop with one motion.",
+    "Lift the black laptop with compact design's lid fully.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with compact design carefully using the left arm.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the black laptop with shiny hinges's lid fully.",
+    "Pull up the black laptop with compact design's lid.",
+    "Lift the black laptop with shiny hinges using the left arm.",
+    "Open the medium-sized black laptop carefully using the left arm.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with shiny hinges using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with compact design using the left arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with shiny hinges with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Pull up the medium-sized black laptop's lid.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Grab the black laptop with shiny hinges and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the black laptop with compact design's lid gently.",
+    "Lift the black laptop with shiny hinges using the left arm",
+    "Open the black laptop with compact design with care",
+    "Open the black laptop with compact design with one motion.",
+    "Lift the medium-sized black laptop's lid fully.",
+    "Pull up the black laptop with shiny hinges's lid.",
+    "Lift the black laptop with compact design using the left arm.",
+    "Open the black laptop with shiny hinges carefully using the left arm.",
+    "Grab the medium-sized black laptop and open it.",
+    "Open the black laptop with compact design using the left arm.",
+    "Lift the black laptop with shiny hinges's lid gently."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact silver laptop to open.",
+    "Pull the laptop with foldable screen design open with the right arm.",
+    "Pull the screen of the laptop with metallic finish.",
+    "Pull the slim laptop's lid upward.",
+    "Grip and lift the rectangular laptop with screen's lid.",
+    "Lift the slim laptop's lid upwards.",
+    "Raise the laptop with black keyboard lid with the right arm.",
+    "Open the medium-sized silver laptop carefully with the right arm.",
+    "Open the metal laptop with black keys completely.",
+    "Fully lift the compact silver laptop using the right arm.",
+    "Raise the portable slim laptop to expose the screen",
+    "Raise the lightweight silver laptop using the right arm.",
+    "Open the metal laptop with black keys lifting with the right arm",
+    "Lift the medium-sized silver laptop lid completely.",
+    "Gently open the medium-sized silver laptop upward.",
+    "Use the right arm to open the laptop with smooth surface.",
+    "Pull up the lid of the slim laptop",
+    "Use the right arm to raise the laptop with smooth surface.",
+    "Lift and open the medium-sized silver laptop.",
+    "Use the right arm to raise the laptop with metallic finish.",
+    "Raise the slim laptop's top section.",
+    "Pull the lid of the laptop with foldable screen design upward.",
+    "Open the laptop with smooth surface entirely.",
+    "Hold the metal laptop with black keys steady, lift lid.",
+    "Use the right arm to open the slim laptop.",
+    "Raise the top of the silver laptop with dark keys",
+    "Lift the rectangular laptop with screen's lid using the right arm.",
+    "Push the medium-sized silver laptop's lid upward using the right arm.",
+    "Raise the metal laptop with black keys using the right arm.",
+    "Slide the laptop with smooth surface open with the right arm.",
+    "Lift the laptop with metallic finish to open it up",
+    "Pull the laptop with smooth surface upward lightly.",
+    "Carefully open the slim laptop using the right arm",
+    "Lift the silver laptop with dark keys slightly.",
+    "Raise the lid of the medium-sized silver laptop.",
+    "Raise the laptop with foldable screen design using the right arm firmly.",
+    "Use the right arm to lift the laptop with metallic finish",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Gently raise the laptop with smooth surface using the right arm.",
+    "Gently lift the laptop with black keyboard using the right arm",
+    "Use the right arm to open the compact silver laptop.",
+    "Pull open the rectangular laptop with screen",
+    "Lift the laptop with smooth surface open with the right arm.",
+    "Open the silver laptop with dark keys by lifting its lid.",
+    "Raise and open the lightweight silver laptop.",
+    "Use the right arm to open the laptop with metallic finish",
+    "With the right arm, open the metal laptop with black keys's lid.",
+    "Gently open the slim laptop.",
+    "Raise the silver laptop with dark keys lid using the right arm.",
+    "Fully open the the lightweight silver laptop.",
+    "Lift the slim laptop to open.",
+    "Pull the rectangular laptop with screen open with the right arm.",
+    "Pull the screen of the medium-sized silver laptop.",
+    "Pull the slim laptop's lid upward.",
+    "Grip and lift the lightweight silver laptop's lid.",
+    "Lift the laptop with smooth surface's lid upwards.",
+    "Raise the medium-sized silver laptop lid with the right arm.",
+    "Open the compact silver laptop carefully with the right arm.",
+    "Open the rectangular laptop with screen completely.",
+    "Fully lift the laptop with black keyboard using the right arm.",
+    "Raise the slim laptop to expose the screen",
+    "Raise the slim laptop using the right arm.",
+    "Open the laptop with foldable screen design lifting with the right arm",
+    "Lift the silver laptop with dark keys lid completely.",
+    "Gently open the portable slim laptop upward.",
+    "Use the right arm to open the portable slim laptop.",
+    "Pull up the lid of the compact silver laptop",
+    "Use the right arm to raise the laptop with foldable screen design.",
+    "Lift and open the laptop with smooth surface.",
+    "Use the right arm to raise the compact silver laptop.",
+    "Raise the laptop with foldable screen design's top section.",
+    "Pull the lid of the laptop with smooth surface upward.",
+    "Open the compact silver laptop entirely.",
+    "Hold the medium-sized silver laptop steady, lift lid.",
+    "Use the right arm to open the lightweight silver laptop.",
+    "Raise the top of the slim laptop",
+    "Lift the compact silver laptop's lid using the right arm.",
+    "Push the slim laptop's lid upward using the right arm.",
+    "Raise the portable slim laptop using the right arm.",
+    "Slide the laptop with smooth surface open with the right arm.",
+    "Lift the silver laptop with dark keys to open it up",
+    "Pull the rectangular laptop with screen upward lightly.",
+    "Carefully open the silver laptop with dark keys using the right arm",
+    "Lift the metal laptop with black keys slightly.",
+    "Raise the lid of the laptop with smooth surface.",
+    "Raise the metal laptop with black keys using the right arm firmly.",
+    "Use the right arm to lift the silver laptop with dark keys",
+    "Use the right arm to raise the metal laptop with black keys.",
+    "Gently raise the laptop with metallic finish using the right arm.",
+    "Gently lift the silver laptop with dark keys using the right arm",
+    "Use the right arm to open the slim laptop.",
+    "Pull open the rectangular laptop with screen",
+    "Lift the portable slim laptop open with the right arm.",
+    "Open the compact silver laptop by lifting its lid.",
+    "Raise and open the compact silver laptop.",
+    "Use the right arm to open the laptop with foldable screen design",
+    "With the right arm, open the laptop with black keyboard's lid.",
+    "Gently open the lightweight silver laptop.",
+    "Raise the silver laptop with dark keys lid using the right arm.",
+    "Fully open the the silver laptop with dark keys."
+  ],
+  "unseen": [
+    "Pull up the silver laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the silver laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the silver laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the silver laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the silver laptop using the right arm",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the silver laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Open the folding laptop with black keyboard carefully using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the foldable laptop using the right arm.",
+    "Open the foldable laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Open the folding laptop with black keyboard using the right arm.",
+    "Open the silver laptop with one motion.",
+    "Pull up the foldable laptop's lid.",
+    "Lift the silver laptop's lid fully.",
+    "Open the foldable laptop with care",
+    "Grab the silver laptop and open it.",
+    "Lift the folding laptop with black keyboard using the right arm.",
+    "Lift the silver laptop's lid gently.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the folding laptop with black keyboard using the right arm",
+    "Open the silver laptop using the right arm.",
+    "Open the silver laptop with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the foldable black laptop using the left arm.",
+    "Fully open the the medium black rectangular laptop.",
+    "Open the Toshiba laptop entirely.",
+    "Lift the black laptop with hinge mechanism's lid upwards.",
+    "Raise the black laptop with red Toshiba logo to expose the screen",
+    "Gently raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Open the foldable black laptop carefully with the left arm.",
+    "With the left arm, open the black laptop with smooth matte surface's lid.",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Raise the sleek black Toshiba computing laptop lid using the left arm.",
+    "Raise the folding laptop with screen and keyboard's top section.",
+    "Gently open the black laptop upward.",
+    "Lift the black laptop with hinge mechanism to open.",
+    "Pull the screen of the black laptop with red text underneath.",
+    "Lift the Toshiba laptop's lid using the left arm.",
+    "Lift the Toshiba laptop with rectangular screen open with the left arm.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Lift and open the black laptop with smooth matte surface.",
+    "Lift the foldable black laptop lid completely.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Pull the Toshiba laptop with rectangular screen's lid upward.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Hold the Toshiba laptop with rectangular screen steady, lift lid.",
+    "Use the left arm to open the black laptop with red Toshiba logo.",
+    "Gently lift the black laptop with hinge mechanism using the left arm",
+    "Pull the lid of the foldable black laptop upward.",
+    "Raise the lid of the foldable black laptop.",
+    "Lift the portable folding Toshiba laptop to open it up",
+    "Pull the foldable black laptop upward lightly.",
+    "Use the left arm to lift the portable folding Toshiba laptop",
+    "Grip and lift the medium black rectangular laptop's lid.",
+    "Use the left arm to open the black laptop.",
+    "Raise and open the Toshiba laptop.",
+    "Carefully open the black laptop using the left arm",
+    "Slide the foldable black laptop open with the left arm.",
+    "Pull open the black laptop",
+    "Raise the top of the black laptop with hinge mechanism",
+    "Raise the Toshiba laptop with rectangular screen lid with the left arm.",
+    "Fully lift the black laptop with smooth matte surface using the left arm.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Use the left arm to raise the black laptop.",
+    "Pull the Toshiba laptop open with the left arm.",
+    "Open the black laptop with red Toshiba logo lifting with the left arm",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Use the left arm to open the medium black rectangular laptop",
+    "Raise the portable folding Toshiba laptop using the left arm.",
+    "Use the left arm to raise the black laptop with red Toshiba logo.",
+    "Raise the medium black rectangular laptop using the left arm.",
+    "Fully open the the black laptop with smooth matte surface.",
+    "Open the foldable black laptop entirely.",
+    "Lift the black laptop with red Toshiba logo's lid upwards.",
+    "Raise the black laptop with red text underneath to expose the screen",
+    "Gently raise the black laptop with red Toshiba logo using the left arm.",
+    "Open the black laptop with hinge mechanism carefully with the left arm.",
+    "With the left arm, open the sleek black Toshiba computing laptop's lid.",
+    "Open the foldable black laptop by lifting its lid.",
+    "Use the left arm to open the Toshiba laptop with rectangular screen.",
+    "Raise the sleek black Toshiba computing laptop using the left arm firmly.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Raise the black laptop with smooth matte surface lid using the left arm.",
+    "Raise the black laptop's top section.",
+    "Gently open the black laptop with smooth matte surface upward.",
+    "Lift the Toshiba laptop with rectangular screen to open.",
+    "Pull the screen of the black laptop with red text underneath.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Lift the black laptop open with the left arm.",
+    "Push the folding laptop with screen and keyboard's lid upward using the left arm.",
+    "Lift and open the black laptop with smooth matte surface.",
+    "Lift the Toshiba laptop with rectangular screen lid completely.",
+    "Pull up the lid of the Toshiba laptop",
+    "Pull the black laptop with red text underneath's lid upward.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Hold the black laptop steady, lift lid.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Gently lift the portable folding Toshiba laptop using the left arm",
+    "Pull the lid of the black laptop with red text underneath upward.",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Lift the black laptop with red Toshiba logo to open it up",
+    "Pull the portable folding Toshiba laptop upward lightly.",
+    "Use the left arm to lift the Toshiba laptop with rectangular screen",
+    "Grip and lift the foldable black laptop's lid.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Raise and open the medium black rectangular laptop.",
+    "Carefully open the black laptop with red Toshiba logo using the left arm",
+    "Slide the sleek black Toshiba computing laptop open with the left arm.",
+    "Pull open the medium black rectangular laptop",
+    "Raise the top of the folding laptop with screen and keyboard",
+    "Raise the black laptop with smooth matte surface lid with the left arm.",
+    "Fully lift the portable folding Toshiba laptop using the left arm.",
+    "Open the black laptop with smooth matte surface completely.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Pull the medium black rectangular laptop open with the left arm.",
+    "Open the Toshiba laptop lifting with the left arm",
+    "Lift the black laptop with red text underneath slightly.",
+    "Use the left arm to open the black laptop",
+    "Raise the black laptop using the left arm.",
+    "Use the left arm to raise the medium black rectangular laptop."
+  ],
+  "unseen": [
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop slightly rounded at edges and open it.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Open the black laptop fitting laptop bags using the left arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop with black textured screen using the right arm.",
+    "Lift the smooth textured laptop open with the right arm.",
+    "Lift and open the silver laptop with foldable parts.",
+    "Hold the medium foldable silver laptop steady, lift lid.",
+    "Gently raise the metal laptop using the right arm.",
+    "Open the laptop with black textured screen entirely.",
+    "Open the silver laptop by lifting its lid.",
+    "Lift the silver laptop with foldable parts lid completely.",
+    "Lift the silver laptop with foldable parts slightly.",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Grip and lift the laptop with black textured screen's lid.",
+    "Pull the metal laptop open with the right arm.",
+    "Push the black and silver laptop's lid upward using the right arm.",
+    "Use the right arm to open the silver laptop with black keyboard.",
+    "Raise and open the wood surrounded laptop.",
+    "Lift the laptop with wood panel background's lid upwards.",
+    "Lift the laptop with black textured screen to open it up",
+    "Raise the silver laptop using the right arm.",
+    "Use the right arm to open the wood surrounded laptop.",
+    "Use the right arm to open the silver laptop.",
+    "Gently open the medium foldable silver laptop.",
+    "Slide the laptop with black textured screen open with the right arm.",
+    "Raise the smooth textured laptop using the right arm firmly.",
+    "Raise the top of the silver laptop",
+    "Raise the laptop with wood panel background lid with the right arm.",
+    "Pull up the lid of the medium foldable silver laptop",
+    "Pull open the metal laptop",
+    "Pull the screen of the black screen laptop.",
+    "Gently lift the silver laptop with black keyboard using the right arm",
+    "Fully open the the smooth textured laptop.",
+    "Raise the medium foldable silver laptop's top section.",
+    "Raise the lid of the laptop with wood panel background.",
+    "Use the right arm to lift the laptop with black textured screen",
+    "Open the black screen laptop completely.",
+    "Use the right arm to open the metal laptop",
+    "Pull the silver laptop with black keyboard's lid upward.",
+    "Pull the lid of the wood surrounded laptop upward.",
+    "Open the silver laptop with black keyboard lifting with the right arm",
+    "Open the black and silver laptop carefully with the right arm.",
+    "Raise the keyboard laptop lid using the right arm.",
+    "Lift the black screen laptop's lid using the right arm.",
+    "Gently open the laptop with wood panel background upward.",
+    "Lift the metal laptop to open.",
+    "Carefully open the medium foldable silver laptop using the right arm",
+    "Fully lift the metal laptop using the right arm.",
+    "Use the right arm to raise the black and silver laptop.",
+    "With the right arm, open the metal laptop's lid.",
+    "Raise the black and silver laptop to expose the screen",
+    "Use the right arm to raise the black screen laptop.",
+    "Pull the laptop with black textured screen upward lightly.",
+    "Raise the laptop with wood panel background using the right arm.",
+    "Lift the silver laptop with foldable parts open with the right arm.",
+    "Lift and open the wood surrounded laptop.",
+    "Hold the laptop with black textured screen steady, lift lid.",
+    "Gently raise the laptop with black textured screen using the right arm.",
+    "Open the silver laptop entirely.",
+    "Open the laptop with wood panel background by lifting its lid.",
+    "Lift the laptop with black textured screen lid completely.",
+    "Lift the laptop with wood panel background slightly.",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Grip and lift the medium foldable silver laptop's lid.",
+    "Pull the smooth textured laptop open with the right arm.",
+    "Push the medium foldable silver laptop's lid upward using the right arm.",
+    "Use the right arm to open the medium foldable silver laptop.",
+    "Raise and open the laptop with wood panel background.",
+    "Lift the laptop with black textured screen's lid upwards.",
+    "Lift the medium foldable silver laptop to open it up",
+    "Raise the silver laptop using the right arm.",
+    "Use the right arm to open the laptop with black textured screen.",
+    "Use the right arm to open the black and silver laptop.",
+    "Gently open the silver laptop with black keyboard.",
+    "Slide the silver laptop with black keyboard open with the right arm.",
+    "Raise the silver laptop with black keyboard using the right arm firmly.",
+    "Raise the top of the black screen laptop",
+    "Raise the silver laptop lid with the right arm.",
+    "Pull up the lid of the silver laptop with foldable parts",
+    "Pull open the medium foldable silver laptop",
+    "Pull the screen of the wood surrounded laptop.",
+    "Gently lift the smooth textured laptop using the right arm",
+    "Fully open the the silver laptop with foldable parts.",
+    "Raise the silver laptop with black keyboard's top section.",
+    "Raise the lid of the smooth textured laptop.",
+    "Use the right arm to lift the silver laptop",
+    "Open the laptop with wood panel background completely.",
+    "Use the right arm to open the laptop with wood panel background",
+    "Pull the smooth textured laptop's lid upward.",
+    "Pull the lid of the keyboard laptop upward.",
+    "Open the black and silver laptop lifting with the right arm",
+    "Open the silver laptop with foldable parts carefully with the right arm.",
+    "Raise the laptop with wood panel background lid using the right arm.",
+    "Lift the silver laptop with foldable parts's lid using the right arm.",
+    "Gently open the keyboard laptop upward.",
+    "Lift the black and silver laptop to open.",
+    "Carefully open the medium foldable silver laptop using the right arm",
+    "Fully lift the medium foldable silver laptop using the right arm.",
+    "Use the right arm to raise the black screen laptop.",
+    "With the right arm, open the black and silver laptop's lid.",
+    "Raise the smooth textured laptop to expose the screen",
+    "Use the right arm to raise the medium foldable silver laptop.",
+    "Pull the metal laptop upward lightly."
+  ],
+  "unseen": [
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Open the medium laptop with silver body carefully using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the foldable laptop's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the medium laptop with silver body using the right arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Pull up the medium laptop with silver body's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the medium laptop with silver body using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the medium laptop with silver body and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the laptop with glossy black display with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the foldable laptop using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the laptop with glossy black display's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the foldable laptop with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the medium laptop with silver body using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop with one motion.",
+    "Lift the laptop with glossy black display's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the laptop with glossy black display using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the laptop with glossy black display and open it.",
+    "Lift the medium laptop with silver body's lid gently.",
+    "Open the laptop with glossy black display using the right arm.",
+    "Pull up the laptop with glossy black display's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the laptop with glossy black display with care",
+    "Open the laptop with glossy black display carefully using the right arm.",
+    "Lift the foldable laptop using the right arm.",
+    "Lift the laptop with glossy black display using the right arm",
+    "Grab the foldable laptop and open it.",
+    "Lift the foldable laptop's lid gently.",
+    "Open the foldable laptop using the right arm.",
+    "Pull up the foldable laptop's lid.",
+    "Open the medium laptop with silver body with one motion.",
+    "Lift the medium laptop with silver body's lid fully.",
+    "Open the medium laptop with silver body with care",
+    "Open the foldable laptop carefully using the right arm.",
+    "Lift the foldable laptop using the right arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Fully open the the silver keyboard laptop.",
+    "Pull open the silver keyboard laptop",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Lift the device with flat keyboard and screen lid completely.",
+    "Gently open the compact black and silver computer upward.",
+    "Pull up the lid of the medium-sized laptop",
+    "Use the left arm to open the matte laptop with smooth screen.",
+    "Raise the top of the matte laptop with smooth screen",
+    "Slide the folding laptop with screen and keyboard open with the left arm.",
+    "Hold the portable folding laptop steady, lift lid.",
+    "Gently raise the silver keyboard laptop using the left arm.",
+    "Raise the medium-sized laptop using the left arm firmly.",
+    "Lift the matte laptop with smooth screen's lid using the left arm.",
+    "Open the black laptop with reflective screen by lifting its lid.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Raise the rectangular laptop with Toshiba logo lid using the left arm.",
+    "Lift the rectangular laptop with Toshiba logo slightly.",
+    "Fully lift the black and silver laptop using the left arm.",
+    "Lift and open the folding laptop with screen and keyboard.",
+    "With the left arm, open the matte laptop with smooth screen's lid.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Use the left arm to open the device with flat keyboard and screen.",
+    "Gently open the Toshiba laptop with folding design.",
+    "Grip and lift the laptop with silver keyboard's lid.",
+    "Gently lift the black laptop with reflective screen using the left arm",
+    "Open the laptop with silver keyboard lifting with the left arm",
+    "Raise the lid of the portable folding laptop.",
+    "Raise and open the black laptop with reflective screen.",
+    "Raise the portable folding laptop using the left arm.",
+    "Use the left arm to open the black laptop with reflective screen.",
+    "Lift the laptop with silver keyboard to open.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "Lift the laptop with silver keyboard open with the left arm.",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Pull the matte laptop with smooth screen's lid upward.",
+    "Open the folding laptop with screen and keyboard completely.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Use the left arm to lift the black laptop with reflective screen",
+    "Carefully open the black and silver laptop using the left arm",
+    "Lift the black and silver laptop to open it up",
+    "Open the matte laptop with smooth screen entirely.",
+    "Push the medium-sized laptop's lid upward using the left arm.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Pull the rectangular laptop with Toshiba logo open with the left arm.",
+    "Pull the Toshiba laptop with folding design upward lightly.",
+    "Raise the portable folding laptop lid with the left arm.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo",
+    "Lift the device with flat keyboard and screen's lid upwards.",
+    "Raise the matte laptop with smooth screen's top section.",
+    "Fully open the the black laptop with reflective screen.",
+    "Pull open the device with flat keyboard and screen",
+    "Use the left arm to raise the device with flat keyboard and screen.",
+    "Lift the medium-sized laptop lid completely.",
+    "Gently open the black and silver laptop upward.",
+    "Pull up the lid of the folding laptop with screen and keyboard",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Raise the top of the black and silver laptop",
+    "Slide the laptop with silver keyboard open with the left arm.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Gently raise the black laptop with reflective screen using the left arm.",
+    "Raise the matte laptop with smooth screen using the left arm firmly.",
+    "Lift the black and silver laptop's lid using the left arm.",
+    "Open the portable folding laptop by lifting its lid.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Pull the screen of the portable folding laptop.",
+    "Raise the silver keyboard laptop lid using the left arm.",
+    "Lift the medium-sized laptop slightly.",
+    "Fully lift the compact black and silver computer using the left arm.",
+    "Lift and open the compact black and silver computer.",
+    "With the left arm, open the black laptop with reflective screen's lid.",
+    "Raise the device with flat keyboard and screen using the left arm.",
+    "Use the left arm to open the Toshiba laptop with folding design.",
+    "Gently open the laptop with silver keyboard.",
+    "Grip and lift the silver keyboard laptop's lid.",
+    "Gently lift the matte laptop with smooth screen using the left arm",
+    "Open the black laptop with reflective screen lifting with the left arm",
+    "Raise the lid of the compact black and silver computer.",
+    "Raise and open the laptop with silver keyboard.",
+    "Raise the black laptop with reflective screen using the left arm.",
+    "Use the left arm to open the laptop with silver keyboard.",
+    "Lift the matte laptop with smooth screen to open.",
+    "Open the laptop with silver keyboard carefully with the left arm.",
+    "Lift the black and silver laptop open with the left arm.",
+    "Use the left arm to raise the Toshiba laptop with folding design.",
+    "Pull the folding laptop with screen and keyboard's lid upward.",
+    "Open the black laptop with reflective screen completely.",
+    "Raise the laptop with silver keyboard to expose the screen",
+    "Use the left arm to lift the rectangular laptop with Toshiba logo",
+    "Carefully open the black laptop with reflective screen using the left arm",
+    "Lift the compact black and silver computer to open it up",
+    "Open the medium-sized laptop entirely.",
+    "Push the portable folding laptop's lid upward using the left arm.",
+    "Pull the lid of the black and silver laptop upward.",
+    "Pull the Toshiba laptop with folding design open with the left arm.",
+    "Pull the rectangular laptop with Toshiba logo upward lightly.",
+    "Raise the black laptop with reflective screen lid with the left arm.",
+    "Use the left arm to open the laptop with silver keyboard",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Raise the black laptop with reflective screen's top section."
+  ],
+  "unseen": [
+    "Open the portable Toshiba laptop with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer with care",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the laptop computer carefully using the left arm.",
+    "Lift the laptop computer using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer with care",
+    "Lift the computer with black screen's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the laptop computer's lid.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the portable Toshiba laptop with care",
+    "Lift the laptop computer's lid gently.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer using the left arm.",
+    "Pull up the computer with black screen's lid.",
+    "Grab the laptop computer and open it.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the computer with black screen using the left arm.",
+    "Open the laptop computer with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the laptop with blue screen's top section.",
+    "Raise the lid of the thin portable laptop.",
+    "Use the right arm to open the blue screen portable laptop.",
+    "Gently open the blue screen portable laptop upward.",
+    "Raise the foldable laptop using the right arm.",
+    "Fully open the the rectangular laptop with orange body.",
+    "Hold the plastic orange laptop with metal parts steady, lift lid.",
+    "Use the right arm to open the laptop with black hinge area",
+    "Pull open the laptop with black hinge area",
+    "Gently lift the rectangular laptop with orange body using the right arm",
+    "Use the right arm to raise the blue screen foldable laptop.",
+    "Pull the orange laptop's lid upward.",
+    "Gently raise the blue screen portable laptop using the right arm.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Pull the screen of the blue screen portable laptop.",
+    "Lift the blue screen foldable laptop slightly.",
+    "Lift the foldable laptop open with the right arm.",
+    "Lift the laptop with folding lid lid completely.",
+    "Raise the laptop with folding lid to expose the screen",
+    "Pull up the lid of the blue screen foldable laptop",
+    "Open the blue screen foldable laptop completely.",
+    "Carefully open the laptop with black hinge area using the right arm",
+    "Pull the thin portable laptop open with the right arm.",
+    "Open the orange laptop by lifting its lid.",
+    "Raise the laptop with blue screen lid with the right arm.",
+    "Fully lift the blue screen portable laptop using the right arm.",
+    "Grip and lift the medium rectangular orange laptop's lid.",
+    "Lift the laptop with folding lid to open it up",
+    "Open the foldable laptop carefully with the right arm.",
+    "Lift and open the laptop with black hinge area.",
+    "Raise the medium rectangular orange laptop using the right arm.",
+    "Open the laptop with folding lid lifting with the right arm",
+    "Lift the plastic orange laptop with metal parts's lid upwards.",
+    "Raise the orange laptop using the right arm firmly.",
+    "Pull the blue screen portable laptop upward lightly.",
+    "Use the right arm to raise the rectangular laptop with orange body.",
+    "Raise the laptop with black hinge area lid using the right arm.",
+    "Use the right arm to lift the laptop with blue screen",
+    "Slide the rectangular laptop with orange body open with the right arm.",
+    "Use the right arm to open the orange laptop.",
+    "Pull the lid of the orange laptop upward.",
+    "Gently open the plastic orange laptop with metal parts.",
+    "Lift the thin portable laptop to open.",
+    "Raise and open the blue screen portable laptop.",
+    "Open the foldable laptop entirely.",
+    "Use the right arm to raise the thin portable laptop.",
+    "Raise the top of the plastic orange laptop with metal parts",
+    "Push the hinged screen laptop's lid upward using the right arm.",
+    "Use the right arm to open the thin portable laptop.",
+    "Lift the laptop with black hinge area's lid using the right arm.",
+    "Raise the hinged screen laptop's top section.",
+    "Raise the lid of the laptop with blue screen.",
+    "Use the right arm to open the plastic orange laptop with metal parts.",
+    "Gently open the laptop with blue screen upward.",
+    "Raise the laptop with blue screen using the right arm.",
+    "Fully open the the orange laptop.",
+    "Hold the blue screen foldable laptop steady, lift lid.",
+    "Use the right arm to open the medium rectangular orange laptop",
+    "Pull open the hinged screen laptop",
+    "Gently lift the laptop with black hinge area using the right arm",
+    "Use the right arm to raise the laptop with black hinge area.",
+    "Pull the medium rectangular orange laptop's lid upward.",
+    "Gently raise the blue screen portable laptop using the right arm.",
+    "With the right arm, open the blue screen portable laptop's lid.",
+    "Pull the screen of the laptop with folding lid.",
+    "Lift the thin portable laptop slightly.",
+    "Lift the laptop with folding lid open with the right arm.",
+    "Lift the thin portable laptop lid completely.",
+    "Raise the blue screen foldable laptop to expose the screen",
+    "Pull up the lid of the medium rectangular orange laptop",
+    "Open the orange laptop completely.",
+    "Carefully open the medium rectangular orange laptop using the right arm",
+    "Pull the blue screen portable laptop open with the right arm.",
+    "Open the hinged screen laptop by lifting its lid.",
+    "Raise the thin portable laptop lid with the right arm.",
+    "Fully lift the medium rectangular orange laptop using the right arm.",
+    "Grip and lift the hinged screen laptop's lid.",
+    "Lift the orange laptop to open it up",
+    "Open the hinged screen laptop carefully with the right arm.",
+    "Lift and open the medium rectangular orange laptop.",
+    "Raise the hinged screen laptop using the right arm.",
+    "Open the rectangular laptop with orange body lifting with the right arm",
+    "Lift the foldable laptop's lid upwards.",
+    "Raise the plastic orange laptop with metal parts using the right arm firmly.",
+    "Pull the hinged screen laptop upward lightly.",
+    "Use the right arm to raise the medium rectangular orange laptop.",
+    "Raise the blue screen portable laptop lid using the right arm.",
+    "Use the right arm to lift the foldable laptop",
+    "Slide the laptop with black hinge area open with the right arm.",
+    "Use the right arm to open the plastic orange laptop with metal parts.",
+    "Pull the lid of the orange laptop upward.",
+    "Gently open the orange laptop.",
+    "Lift the hinged screen laptop to open.",
+    "Raise and open the foldable laptop.",
+    "Open the laptop with black hinge area entirely.",
+    "Use the right arm to raise the laptop with blue screen.",
+    "Raise the top of the laptop with folding lid",
+    "Push the thin portable laptop's lid upward using the right arm.",
+    "Use the right arm to open the thin portable laptop.",
+    "Lift the medium rectangular orange laptop's lid using the right arm."
+  ],
+  "unseen": [
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the compact laptop with orange exterior and open it.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Grab the laptop with smooth surfaces and open it.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Lift the laptop with smooth surfaces's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces with one motion.",
+    "Lift the compact laptop with orange exterior using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the right arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the flat orange laptop's lid.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the laptop with smooth surfaces carefully using the right arm.",
+    "Open the flat orange laptop with care",
+    "Lift the laptop with smooth surfaces's lid gently.",
+    "Lift the compact laptop with orange exterior using the right arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the laptop with smooth surfaces using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the flat orange laptop with one motion.",
+    "Lift the flat orange laptop using the right arm.",
+    "Open the flat orange laptop carefully using the right arm.",
+    "Open the compact laptop with orange exterior with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the flat orange laptop using the right arm",
+    "Lift the compact laptop with orange exterior's lid fully.",
+    "Pull up the laptop with smooth surfaces's lid.",
+    "Open the compact laptop with orange exterior using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the compact laptop with orange exterior with one motion.",
+    "Lift the laptop with smooth surfaces using the right arm.",
+    "Open the compact laptop with orange exterior carefully using the right arm.",
+    "Open the laptop with smooth surfaces with care",
+    "Lift the compact laptop with orange exterior's lid gently.",
+    "Lift the laptop with smooth surfaces using the right arm",
+    "Lift the flat orange laptop's lid fully.",
+    "Pull up the compact laptop with orange exterior's lid.",
+    "Open the flat orange laptop using the right arm.",
+    "Grab the flat orange laptop and open it.",
+    "Open the laptop with smooth surfaces with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Open the slim laptop lifting with the left arm",
+    "Lift the laptop with metallic finish's lid upwards.",
+    "With the left arm, open the medium-sized silver laptop's lid.",
+    "Use the left arm to open the silver laptop with dark keys",
+    "Lift and open the slim laptop.",
+    "Lift the rectangular laptop with screen open with the left arm.",
+    "Hold the slim laptop steady, lift lid.",
+    "Lift the slim laptop's lid using the left arm.",
+    "Use the left arm to lift the slim laptop",
+    "Use the left arm to open the portable slim laptop.",
+    "Use the left arm to raise the silver laptop with dark keys.",
+    "Raise the laptop with metallic finish using the left arm.",
+    "Pull the screen of the laptop with metallic finish.",
+    "Open the slim laptop entirely.",
+    "Raise the silver laptop with dark keys using the left arm.",
+    "Raise the top of the laptop with metallic finish",
+    "Open the rectangular laptop with screen carefully with the left arm.",
+    "Gently lift the rectangular laptop with screen using the left arm",
+    "Slide the laptop with foldable screen design open with the left arm.",
+    "Push the slim laptop's lid upward using the left arm.",
+    "Lift the metal laptop with black keys slightly.",
+    "Carefully open the metal laptop with black keys using the left arm",
+    "Use the left arm to raise the lightweight silver laptop.",
+    "Pull the rectangular laptop with screen's lid upward.",
+    "Lift the medium-sized silver laptop to open it up",
+    "Gently open the compact silver laptop upward.",
+    "Use the left arm to open the portable slim laptop.",
+    "Use the left arm to raise the metal laptop with black keys.",
+    "Raise the slim laptop lid using the left arm.",
+    "Use the left arm to open the slim laptop.",
+    "Grip and lift the laptop with black keyboard's lid.",
+    "Raise the lid of the laptop with foldable screen design.",
+    "Pull the lid of the laptop with foldable screen design upward.",
+    "Raise the metal laptop with black keys using the left arm firmly.",
+    "Gently open the laptop with metallic finish.",
+    "Fully lift the lightweight silver laptop using the left arm.",
+    "Lift the laptop with black keyboard to open.",
+    "Open the lightweight silver laptop completely.",
+    "Raise the portable slim laptop's top section.",
+    "Raise and open the silver laptop with dark keys.",
+    "Lift the laptop with smooth surface lid completely.",
+    "Pull the lightweight silver laptop open with the left arm.",
+    "Open the rectangular laptop with screen by lifting its lid.",
+    "Raise the laptop with foldable screen design to expose the screen",
+    "Pull up the lid of the slim laptop",
+    "Raise the metal laptop with black keys lid with the left arm.",
+    "Gently raise the laptop with foldable screen design using the left arm.",
+    "Pull open the rectangular laptop with screen",
+    "Pull the laptop with smooth surface upward lightly.",
+    "Fully open the the portable slim laptop.",
+    "Open the portable slim laptop lifting with the left arm",
+    "Lift the laptop with metallic finish's lid upwards.",
+    "With the left arm, open the lightweight silver laptop's lid.",
+    "Use the left arm to open the slim laptop",
+    "Lift and open the portable slim laptop.",
+    "Lift the metal laptop with black keys open with the left arm.",
+    "Hold the laptop with black keyboard steady, lift lid.",
+    "Lift the laptop with metallic finish's lid using the left arm.",
+    "Use the left arm to lift the laptop with smooth surface",
+    "Use the left arm to open the slim laptop.",
+    "Use the left arm to raise the laptop with metallic finish.",
+    "Raise the compact silver laptop using the left arm.",
+    "Pull the screen of the laptop with foldable screen design.",
+    "Open the lightweight silver laptop entirely.",
+    "Raise the laptop with smooth surface using the left arm.",
+    "Raise the top of the portable slim laptop",
+    "Open the compact silver laptop carefully with the left arm.",
+    "Gently lift the silver laptop with dark keys using the left arm",
+    "Slide the silver laptop with dark keys open with the left arm.",
+    "Push the laptop with metallic finish's lid upward using the left arm.",
+    "Lift the lightweight silver laptop slightly.",
+    "Carefully open the laptop with metallic finish using the left arm",
+    "Use the left arm to raise the slim laptop.",
+    "Pull the laptop with metallic finish's lid upward.",
+    "Lift the portable slim laptop to open it up",
+    "Gently open the metal laptop with black keys upward.",
+    "Use the left arm to open the rectangular laptop with screen.",
+    "Use the left arm to raise the laptop with smooth surface.",
+    "Raise the rectangular laptop with screen lid using the left arm.",
+    "Use the left arm to open the laptop with smooth surface.",
+    "Grip and lift the laptop with black keyboard's lid.",
+    "Raise the lid of the slim laptop.",
+    "Pull the lid of the rectangular laptop with screen upward.",
+    "Raise the silver laptop with dark keys using the left arm firmly.",
+    "Gently open the portable slim laptop.",
+    "Fully lift the slim laptop using the left arm.",
+    "Lift the metal laptop with black keys to open.",
+    "Open the rectangular laptop with screen completely.",
+    "Raise the laptop with foldable screen design's top section.",
+    "Raise and open the portable slim laptop.",
+    "Lift the portable slim laptop lid completely.",
+    "Pull the lightweight silver laptop open with the left arm.",
+    "Open the rectangular laptop with screen by lifting its lid.",
+    "Raise the laptop with black keyboard to expose the screen",
+    "Pull up the lid of the laptop with black keyboard",
+    "Raise the silver laptop with dark keys lid with the left arm.",
+    "Gently raise the medium-sized silver laptop using the left arm.",
+    "Pull open the portable slim laptop",
+    "Pull the rectangular laptop with screen upward lightly.",
+    "Fully open the the compact silver laptop."
+  ],
+  "unseen": [
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the folding laptop with black keyboard and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the folding laptop with black keyboard using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the folding laptop with black keyboard carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the folding laptop with black keyboard's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the foldable laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the silver laptop with one motion.",
+    "Open the silver laptop carefully using the left arm.",
+    "Lift the foldable laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the foldable laptop's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the silver laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the silver laptop and open it.",
+    "Pull up the silver laptop's lid.",
+    "Open the foldable laptop using the left arm.",
+    "Lift the silver laptop using the left arm",
+    "Open the folding laptop with black keyboard with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the foldable laptop's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the foldable laptop with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the left arm.",
+    "Lift the folding laptop with black keyboard using the left arm",
+    "Open the foldable laptop with one motion.",
+    "Open the foldable laptop carefully using the left arm.",
+    "Lift the folding laptop with black keyboard's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Lift the silver laptop using the left arm.",
+    "Open the folding laptop with black keyboard with care",
+    "Grab the foldable laptop and open it.",
+    "Pull up the folding laptop with black keyboard's lid.",
+    "Open the silver laptop using the left arm.",
+    "Lift the foldable laptop using the left arm",
+    "Open the silver laptop with one motion.",
+    "Open the folding laptop with black keyboard carefully using the left arm."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the laptop for browsing and computing's lid upward using the left arm.",
+    "Gently open the compact black laptop.",
+    "With the left arm, open the black laptop with blue bottom panel's lid.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Raise the blue bottom foldable black laptop lid with the left arm.",
+    "Gently lift the black laptop with sharp rectangular edges using the left arm",
+    "Gently open the medium-sized laptop for work upward.",
+    "Pull up the lid of the rectangular laptop with foldable hinge",
+    "Pull the blue base black lid laptop open with the left arm.",
+    "Pull the laptop for browsing and computing's lid upward.",
+    "Fully lift the black laptop with sharp rectangular edges using the left arm.",
+    "Lift and open the medium-sized laptop for work.",
+    "Raise the lid of the medium-sized laptop for work.",
+    "Raise the laptop for browsing and computing using the left arm.",
+    "Lift the rectangular laptop with foldable hinge's lid using the left arm.",
+    "Open the blue bottom foldable black laptop lifting with the left arm",
+    "Raise the portable laptop using the left arm.",
+    "Grip and lift the portable laptop's lid.",
+    "Use the left arm to raise the blue-black laptop.",
+    "Open the foldable laptop with screen completely.",
+    "Pull the blue base black lid laptop upward lightly.",
+    "Pull the screen of the black laptop with sharp rectangular edges.",
+    "Raise and open the portable laptop.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Lift the foldable laptop with screen lid completely.",
+    "Open the blue base black lid laptop by lifting its lid.",
+    "Raise the black-and-blue laptop with keyboard using the left arm firmly.",
+    "Open the black laptop with blue bottom panel carefully with the left arm.",
+    "Slide the medium-sized laptop for work open with the left arm.",
+    "Lift the blue base black lid laptop open with the left arm.",
+    "Fully open the the portable laptop.",
+    "Lift the laptop for browsing and computing to open.",
+    "Use the left arm to lift the portable laptop",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Raise the laptop for browsing and computing to expose the screen",
+    "Gently raise the compact black laptop using the left arm.",
+    "Hold the laptop for browsing and computing steady, lift lid.",
+    "Use the left arm to raise the laptop for browsing and computing.",
+    "Pull the lid of the black-and-blue laptop with keyboard upward.",
+    "Use the left arm to open the black-and-blue laptop with keyboard.",
+    "Lift the blue-black laptop slightly.",
+    "Lift the medium-sized laptop for work to open it up",
+    "Pull open the black laptop with blue bottom panel",
+    "Lift the black laptop with sharp rectangular edges's lid upwards.",
+    "Carefully open the black-and-blue laptop with keyboard using the left arm",
+    "Raise the compact black laptop lid using the left arm.",
+    "Use the left arm to open the foldable laptop with screen",
+    "Raise the black laptop with blue bottom panel's top section.",
+    "Raise the top of the compact black laptop",
+    "Open the foldable laptop with screen entirely.",
+    "Push the blue-black laptop's lid upward using the left arm.",
+    "Gently open the black laptop with sharp rectangular edges.",
+    "With the left arm, open the rectangular laptop with foldable hinge's lid.",
+    "Use the left arm to open the medium-sized laptop for work.",
+    "Raise the black laptop with sharp rectangular edges lid with the left arm.",
+    "Gently lift the blue base black lid laptop using the left arm",
+    "Gently open the black laptop with blue bottom panel upward.",
+    "Pull up the lid of the rectangular laptop with foldable hinge",
+    "Pull the compact black laptop open with the left arm.",
+    "Pull the blue bottom foldable black laptop's lid upward.",
+    "Fully lift the blue-black laptop using the left arm.",
+    "Lift and open the foldable laptop with screen.",
+    "Raise the lid of the foldable laptop with screen.",
+    "Raise the blue bottom foldable black laptop using the left arm.",
+    "Lift the compact black laptop's lid using the left arm.",
+    "Open the blue-black laptop lifting with the left arm",
+    "Raise the blue base black lid laptop using the left arm.",
+    "Grip and lift the blue-black laptop's lid.",
+    "Use the left arm to raise the rectangular laptop with foldable hinge.",
+    "Open the foldable laptop with screen completely.",
+    "Pull the black-and-blue laptop with keyboard upward lightly.",
+    "Pull the screen of the laptop for browsing and computing.",
+    "Raise and open the foldable laptop with screen.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Lift the compact black laptop lid completely.",
+    "Open the blue-black laptop by lifting its lid.",
+    "Raise the medium-sized laptop for work using the left arm firmly.",
+    "Open the black-and-blue laptop with keyboard carefully with the left arm.",
+    "Slide the foldable laptop with screen open with the left arm.",
+    "Lift the blue-black laptop open with the left arm.",
+    "Fully open the the portable laptop.",
+    "Lift the rectangular laptop with foldable hinge to open.",
+    "Use the left arm to lift the blue bottom foldable black laptop",
+    "Use the left arm to open the foldable laptop with screen.",
+    "Raise the black-and-blue laptop with keyboard to expose the screen",
+    "Gently raise the blue base black lid laptop using the left arm.",
+    "Hold the compact black laptop steady, lift lid.",
+    "Use the left arm to raise the black laptop with blue bottom panel.",
+    "Pull the lid of the black laptop with sharp rectangular edges upward.",
+    "Use the left arm to open the rectangular laptop with foldable hinge.",
+    "Lift the blue base black lid laptop slightly.",
+    "Lift the portable laptop to open it up",
+    "Pull open the black laptop with blue bottom panel",
+    "Lift the rectangular laptop with foldable hinge's lid upwards.",
+    "Carefully open the blue bottom foldable black laptop using the left arm",
+    "Raise the black laptop with blue bottom panel lid using the left arm.",
+    "Use the left arm to open the portable laptop",
+    "Raise the portable laptop's top section.",
+    "Raise the top of the portable laptop",
+    "Open the black-and-blue laptop with keyboard entirely."
+  ],
+  "unseen": [
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the black laptop carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the black laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the black laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the laptop with display and keyboard using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the laptop with display and keyboard with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the black laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the smooth black plastic laptop with care",
+    "Open the laptop with display and keyboard using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the smooth black plastic laptop and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the laptop with display and keyboard's lid.",
+    "Lift the black laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the black laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Grab the black laptop and open it.",
+    "Lift the black laptop's lid fully.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the smooth black plastic laptop using the left arm",
+    "Open the laptop with display and keyboard carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the black laptop using the left arm.",
+    "Lift the laptop with display and keyboard's lid gently.",
+    "Lift the black laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the smooth black plastic laptop's lid fully.",
+    "Open the laptop with display and keyboard with one motion.",
+    "Pull up the black laptop's lid.",
+    "Lift the laptop with display and keyboard using the left arm",
+    "Open the smooth black plastic laptop carefully using the left arm.",
+    "Open the black laptop with care",
+    "Open the smooth black plastic laptop using the left arm.",
+    "Lift the smooth black plastic laptop's lid gently.",
+    "Lift the smooth black plastic laptop using the left arm.",
+    "Grab the laptop with display and keyboard and open it.",
+    "Lift the laptop with display and keyboard's lid fully.",
+    "Open the smooth black plastic laptop with one motion.",
+    "Pull up the black laptop's lid."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to open the black laptop with hinge mechanism.",
+    "Use the left arm to raise the Toshiba laptop with rectangular screen.",
+    "Push the sleek black Toshiba computing laptop's lid upward using the left arm.",
+    "Pull open the black laptop with red text underneath",
+    "Slide the Toshiba laptop with rectangular screen open with the left arm.",
+    "Pull the black laptop with smooth matte surface open with the left arm.",
+    "Lift the portable folding Toshiba laptop open with the left arm.",
+    "With the left arm, open the folding laptop with screen and keyboard's lid.",
+    "Lift the folding laptop with screen and keyboard's lid upwards.",
+    "Raise the top of the black laptop with hinge mechanism",
+    "Grip and lift the black laptop with smooth matte surface's lid.",
+    "Open the sleek black Toshiba computing laptop carefully with the left arm.",
+    "Raise the black laptop to expose the screen",
+    "Use the left arm to open the sleek black Toshiba computing laptop",
+    "Use the left arm to lift the folding laptop with screen and keyboard",
+    "Open the sleek black Toshiba computing laptop entirely.",
+    "Pull up the lid of the Toshiba laptop",
+    "Raise the black laptop with red text underneath using the left arm.",
+    "Gently raise the black laptop with red Toshiba logo using the left arm.",
+    "Fully open the the Toshiba laptop with rectangular screen.",
+    "Open the black laptop with red Toshiba logo completely.",
+    "Use the left arm to raise the folding laptop with screen and keyboard.",
+    "Gently open the black laptop.",
+    "Hold the sleek black Toshiba computing laptop steady, lift lid.",
+    "Raise the black laptop with red Toshiba logo lid with the left arm.",
+    "Pull the medium black rectangular laptop's lid upward.",
+    "Raise the lid of the black laptop with hinge mechanism.",
+    "Lift the foldable black laptop to open.",
+    "Raise the foldable black laptop's top section.",
+    "Raise the foldable black laptop using the left arm.",
+    "Lift the black laptop with red Toshiba logo's lid using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Raise the black laptop with red text underneath using the left arm firmly.",
+    "Lift and open the portable folding Toshiba laptop.",
+    "Pull the screen of the black laptop.",
+    "Lift the folding laptop with screen and keyboard lid completely.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Fully lift the portable folding Toshiba laptop using the left arm.",
+    "Lift the folding laptop with screen and keyboard slightly.",
+    "Pull the Toshiba laptop with rectangular screen upward lightly.",
+    "Gently open the black laptop with red text underneath upward.",
+    "Open the black laptop lifting with the left arm",
+    "Pull the lid of the black laptop with red Toshiba logo upward.",
+    "Raise and open the Toshiba laptop.",
+    "Gently lift the black laptop with smooth matte surface using the left arm",
+    "Lift the black laptop with hinge mechanism to open it up",
+    "Open the black laptop with smooth matte surface by lifting its lid.",
+    "Use the left arm to open the folding laptop with screen and keyboard.",
+    "Carefully open the Toshiba laptop using the left arm",
+    "Raise the black laptop with red Toshiba logo lid using the left arm.",
+    "Use the left arm to open the Toshiba laptop.",
+    "Use the left arm to raise the sleek black Toshiba computing laptop.",
+    "Push the foldable black laptop's lid upward using the left arm.",
+    "Pull open the black laptop with hinge mechanism",
+    "Slide the black laptop open with the left arm.",
+    "Pull the black laptop with smooth matte surface open with the left arm.",
+    "Lift the Toshiba laptop with rectangular screen open with the left arm.",
+    "With the left arm, open the black laptop with red text underneath's lid.",
+    "Lift the Toshiba laptop's lid upwards.",
+    "Raise the top of the black laptop with red Toshiba logo",
+    "Grip and lift the black laptop with smooth matte surface's lid.",
+    "Open the sleek black Toshiba computing laptop carefully with the left arm.",
+    "Raise the black laptop with red text underneath to expose the screen",
+    "Use the left arm to open the folding laptop with screen and keyboard",
+    "Use the left arm to lift the black laptop with hinge mechanism",
+    "Open the foldable black laptop entirely.",
+    "Pull up the lid of the black laptop with red text underneath",
+    "Raise the foldable black laptop using the left arm.",
+    "Gently raise the black laptop with red text underneath using the left arm.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Open the black laptop with smooth matte surface completely.",
+    "Use the left arm to raise the black laptop with hinge mechanism.",
+    "Gently open the folding laptop with screen and keyboard.",
+    "Hold the Toshiba laptop steady, lift lid.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Pull the foldable black laptop's lid upward.",
+    "Raise the lid of the portable folding Toshiba laptop.",
+    "Lift the black laptop with red Toshiba logo to open.",
+    "Raise the black laptop with red text underneath's top section.",
+    "Raise the Toshiba laptop with rectangular screen using the left arm.",
+    "Lift the sleek black Toshiba computing laptop's lid using the left arm.",
+    "Use the left arm to open the black laptop with red text underneath.",
+    "Raise the folding laptop with screen and keyboard using the left arm firmly.",
+    "Lift and open the black laptop.",
+    "Pull the screen of the Toshiba laptop with rectangular screen.",
+    "Lift the portable folding Toshiba laptop lid completely.",
+    "Use the left arm to raise the foldable black laptop.",
+    "Fully lift the medium black rectangular laptop using the left arm.",
+    "Lift the foldable black laptop slightly.",
+    "Pull the portable folding Toshiba laptop upward lightly.",
+    "Gently open the foldable black laptop upward.",
+    "Open the sleek black Toshiba computing laptop lifting with the left arm",
+    "Pull the lid of the folding laptop with screen and keyboard upward.",
+    "Raise and open the black laptop with hinge mechanism.",
+    "Gently lift the black laptop with red Toshiba logo using the left arm",
+    "Lift the black laptop with smooth matte surface to open it up",
+    "Open the Toshiba laptop with rectangular screen by lifting its lid.",
+    "Use the left arm to open the medium black rectangular laptop.",
+    "Carefully open the Toshiba laptop with rectangular screen using the left arm",
+    "Raise the Toshiba laptop lid using the left arm."
+  ],
+  "unseen": [
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop fitting laptop bags's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop slightly rounded at edges with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the medium-sized laptop for portable use using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the medium-sized laptop for portable use's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the medium-sized laptop for portable use with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop fitting laptop bags's lid fully.",
+    "Pull up the medium-sized laptop for portable use's lid.",
+    "Open the black laptop slightly rounded at edges using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the black laptop fitting laptop bags carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the medium-sized laptop for portable use with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop slightly rounded at edges's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Grab the black laptop fitting laptop bags and open it.",
+    "Open the black laptop slightly rounded at edges with care",
+    "Lift the medium-sized laptop for portable use's lid gently.",
+    "Open the medium-sized laptop for portable use carefully using the left arm.",
+    "Lift the medium-sized laptop for portable use using the left arm.",
+    "Lift the black laptop slightly rounded at edges using the left arm",
+    "Open the black laptop fitting laptop bags with one motion.",
+    "Lift the black laptop slightly rounded at edges's lid fully.",
+    "Pull up the black laptop fitting laptop bags's lid.",
+    "Open the black laptop fitting laptop bags using the left arm.",
+    "Grab the medium-sized laptop for portable use and open it.",
+    "Open the black laptop fitting laptop bags with care",
+    "Lift the black laptop slightly rounded at edges's lid gently.",
+    "Open the black laptop slightly rounded at edges carefully using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm.",
+    "Lift the black laptop fitting laptop bags using the left arm",
+    "Open the medium-sized laptop for portable use with one motion."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Gently open the metallic laptop upward.",
+    "Use the right arm to open the blue-screen laptop.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Use the right arm to raise the laptop with silver base.",
+    "With the right arm, open the laptop with blue screen's lid.",
+    "Lift the medium-sized laptop to open it up",
+    "Pull the laptop with silver base open with the right arm.",
+    "Grip and lift the portable silver laptop's lid.",
+    "Raise the metallic laptop lid with the right arm.",
+    "Fully open the the rectangular laptop with hinge.",
+    "Hold the metallic laptop steady, lift lid.",
+    "Raise the laptop for computing using the right arm firmly.",
+    "Raise the top of the metallic laptop",
+    "Pull the laptop with silver base upward lightly.",
+    "Lift the blue-screen laptop to open.",
+    "Raise the laptop featuring smooth metal finish lid using the right arm.",
+    "Raise the rectangular laptop with hinge using the right arm.",
+    "Pull open the portable silver laptop",
+    "Push the metallic laptop's lid upward using the right arm.",
+    "Use the right arm to open the portable silver laptop",
+    "Carefully open the portable silver laptop using the right arm",
+    "Open the hinged laptop with display completely.",
+    "Raise the laptop with silver base using the right arm.",
+    "Lift the laptop for computing slightly.",
+    "Gently lift the portable silver laptop using the right arm",
+    "Raise and open the laptop with silver base.",
+    "Open the laptop with glass screen entirely.",
+    "Raise the lid of the blue-screen laptop.",
+    "Open the medium-sized laptop carefully with the right arm.",
+    "Pull the screen of the hinged laptop with display.",
+    "Open the laptop with glass screen by lifting its lid.",
+    "Lift and open the portable silver laptop.",
+    "Use the right arm to open the portable silver laptop.",
+    "Pull up the lid of the laptop with blue screen",
+    "Raise the laptop with glass screen to expose the screen",
+    "Lift the blue-screen laptop open with the right arm.",
+    "Raise the laptop with silver base's top section.",
+    "Gently open the hinged laptop with display.",
+    "Slide the rectangular laptop with hinge open with the right arm.",
+    "Lift the metallic laptop lid completely.",
+    "Open the laptop with blue screen lifting with the right arm",
+    "Use the right arm to open the laptop with smooth texture.",
+    "Use the right arm to lift the metallic laptop",
+    "Lift the rectangular laptop with hinge's lid upwards.",
+    "Lift the hinged laptop with display's lid using the right arm.",
+    "Gently raise the hinged laptop with display using the right arm.",
+    "Fully lift the rectangular laptop with hinge using the right arm.",
+    "Use the right arm to raise the medium-sized laptop.",
+    "Pull the lid of the laptop with smooth texture upward.",
+    "Pull the metallic laptop's lid upward.",
+    "Gently open the portable silver laptop upward.",
+    "Use the right arm to open the laptop with glass screen.",
+    "Use the right arm to raise the portable silver laptop.",
+    "Use the right arm to raise the rectangular laptop with hinge.",
+    "With the right arm, open the laptop for computing's lid.",
+    "Lift the portable silver laptop to open it up",
+    "Pull the hinged laptop with display open with the right arm.",
+    "Grip and lift the hinged laptop with display's lid.",
+    "Raise the portable silver laptop lid with the right arm.",
+    "Fully open the the portable silver laptop.",
+    "Hold the medium-sized laptop steady, lift lid.",
+    "Raise the hinged laptop with display using the right arm firmly.",
+    "Raise the top of the laptop for computing",
+    "Pull the laptop featuring smooth metal finish upward lightly.",
+    "Lift the rectangular laptop with hinge to open.",
+    "Raise the rectangular laptop with hinge lid using the right arm.",
+    "Raise the rectangular laptop with hinge using the right arm.",
+    "Pull open the blue-screen laptop",
+    "Push the laptop with silver base's lid upward using the right arm.",
+    "Use the right arm to open the metallic laptop",
+    "Carefully open the metallic laptop using the right arm",
+    "Open the portable silver laptop completely.",
+    "Raise the hinged laptop with display using the right arm.",
+    "Lift the rectangular laptop with hinge slightly.",
+    "Gently lift the laptop with blue screen using the right arm",
+    "Raise and open the laptop with smooth texture.",
+    "Open the laptop for computing entirely.",
+    "Raise the lid of the rectangular laptop with hinge.",
+    "Open the laptop with silver base carefully with the right arm.",
+    "Pull the screen of the laptop with silver base.",
+    "Open the laptop for computing by lifting its lid.",
+    "Lift and open the laptop with glass screen.",
+    "Use the right arm to open the laptop with blue screen.",
+    "Pull up the lid of the laptop for computing",
+    "Raise the blue-screen laptop to expose the screen",
+    "Lift the laptop with smooth texture open with the right arm.",
+    "Raise the laptop with smooth texture's top section.",
+    "Gently open the laptop with silver base.",
+    "Slide the laptop with glass screen open with the right arm.",
+    "Lift the hinged laptop with display lid completely.",
+    "Open the hinged laptop with display lifting with the right arm",
+    "Use the right arm to open the metallic laptop.",
+    "Use the right arm to lift the hinged laptop with display",
+    "Lift the metallic laptop's lid upwards.",
+    "Lift the blue-screen laptop's lid using the right arm.",
+    "Gently raise the medium-sized laptop using the right arm.",
+    "Fully lift the laptop with blue screen using the right arm.",
+    "Use the right arm to raise the laptop featuring smooth metal finish.",
+    "Pull the lid of the laptop for computing upward.",
+    "Pull the hinged laptop with display's lid upward."
+  ],
+  "unseen": [
+    "Lift the sleek laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the compact silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the silver laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the sleek laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the compact silver laptop's lid.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the compact silver laptop using the right arm.",
+    "Grab the compact silver laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the compact silver laptop carefully using the right arm.",
+    "Lift the sleek laptop's lid fully.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the compact silver laptop with one motion.",
+    "Open the silver laptop with care",
+    "Lift the silver laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the silver laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the silver laptop using the right arm.",
+    "Open the silver laptop carefully using the right arm.",
+    "Lift the compact silver laptop's lid fully.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the sleek laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the sleek laptop's lid.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the silver laptop and open it.",
+    "Lift the sleek laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully.",
+    "Lift the compact silver laptop's lid gently.",
+    "Open the silver laptop with one motion.",
+    "Open the compact silver laptop with care",
+    "Lift the sleek laptop using the right arm",
+    "Pull up the silver laptop's lid.",
+    "Open the sleek laptop using the right arm.",
+    "Grab the sleek laptop and open it.",
+    "Lift the compact silver laptop using the right arm.",
+    "Open the sleek laptop carefully using the right arm.",
+    "Lift the silver laptop's lid fully."
+  ]
+}

open_laptop/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pull the laptop with silver keyboard open with the left arm.",
+    "Raise the top of the black laptop with reflective screen",
+    "Fully lift the matte laptop with smooth screen using the left arm.",
+    "Use the left arm to raise the compact black and silver computer.",
+    "With the left arm, open the black and silver laptop's lid.",
+    "Slide the medium-sized laptop open with the left arm.",
+    "Use the left arm to open the portable folding laptop",
+    "Raise the folding laptop with screen and keyboard using the left arm.",
+    "Use the left arm to raise the laptop with silver keyboard.",
+    "Lift the portable folding laptop slightly.",
+    "Raise and open the black and silver laptop.",
+    "Pull the silver keyboard laptop upward lightly.",
+    "Carefully open the compact black and silver computer using the left arm",
+    "Push the matte laptop with smooth screen's lid upward using the left arm.",
+    "Lift the black laptop with reflective screen's lid upwards.",
+    "Lift the folding laptop with screen and keyboard to open it up",
+    "Open the Toshiba laptop with folding design entirely.",
+    "Open the portable folding laptop carefully with the left arm.",
+    "Raise the black and silver laptop using the left arm firmly.",
+    "Lift the rectangular laptop with Toshiba logo lid completely.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Raise the lid of the Toshiba laptop with folding design.",
+    "Raise the medium-sized laptop lid using the left arm.",
+    "Open the black and silver laptop by lifting its lid.",
+    "Gently open the compact black and silver computer upward.",
+    "Use the left arm to lift the black and silver laptop",
+    "Open the rectangular laptop with Toshiba logo lifting with the left arm",
+    "Raise the black and silver laptop to expose the screen",
+    "Gently raise the laptop with silver keyboard using the left arm.",
+    "Gently lift the Toshiba laptop with folding design using the left arm",
+    "Pull open the compact black and silver computer",
+    "Pull the screen of the device with flat keyboard and screen.",
+    "Use the left arm to open the medium-sized laptop.",
+    "Lift the Toshiba laptop with folding design open with the left arm.",
+    "Pull the black and silver laptop's lid upward.",
+    "Fully open the the folding laptop with screen and keyboard.",
+    "Open the laptop with silver keyboard completely.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Lift the compact black and silver computer to open.",
+    "Use the left arm to open the portable folding laptop.",
+    "Hold the black and silver laptop steady, lift lid.",
+    "Use the left arm to raise the rectangular laptop with Toshiba logo.",
+    "Raise the medium-sized laptop using the left arm.",
+    "Lift the silver keyboard laptop's lid using the left arm.",
+    "Lift and open the device with flat keyboard and screen.",
+    "Gently open the rectangular laptop with Toshiba logo.",
+    "Pull the lid of the device with flat keyboard and screen upward.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Pull up the lid of the rectangular laptop with Toshiba logo",
+    "Pull the black laptop with reflective screen open with the left arm.",
+    "Raise the top of the device with flat keyboard and screen",
+    "Fully lift the laptop with silver keyboard using the left arm.",
+    "Use the left arm to raise the portable folding laptop.",
+    "With the left arm, open the compact black and silver computer's lid.",
+    "Slide the silver keyboard laptop open with the left arm.",
+    "Use the left arm to open the silver keyboard laptop",
+    "Raise the portable folding laptop using the left arm.",
+    "Use the left arm to raise the matte laptop with smooth screen.",
+    "Lift the black laptop with reflective screen slightly.",
+    "Raise and open the matte laptop with smooth screen.",
+    "Pull the laptop with silver keyboard upward lightly.",
+    "Carefully open the black laptop with reflective screen using the left arm",
+    "Push the medium-sized laptop's lid upward using the left arm.",
+    "Lift the silver keyboard laptop's lid upwards.",
+    "Lift the black laptop with reflective screen to open it up",
+    "Open the rectangular laptop with Toshiba logo entirely.",
+    "Open the device with flat keyboard and screen carefully with the left arm.",
+    "Raise the Toshiba laptop with folding design using the left arm firmly.",
+    "Lift the silver keyboard laptop lid completely.",
+    "Use the left arm to open the silver keyboard laptop.",
+    "Raise the lid of the laptop with silver keyboard.",
+    "Raise the folding laptop with screen and keyboard lid using the left arm.",
+    "Open the folding laptop with screen and keyboard by lifting its lid.",
+    "Gently open the compact black and silver computer upward.",
+    "Use the left arm to lift the Toshiba laptop with folding design",
+    "Open the black and silver laptop lifting with the left arm",
+    "Raise the rectangular laptop with Toshiba logo to expose the screen",
+    "Gently raise the silver keyboard laptop using the left arm.",
+    "Gently lift the Toshiba laptop with folding design using the left arm",
+    "Pull open the rectangular laptop with Toshiba logo",
+    "Pull the screen of the medium-sized laptop.",
+    "Use the left arm to open the rectangular laptop with Toshiba logo.",
+    "Lift the black laptop with reflective screen open with the left arm.",
+    "Pull the rectangular laptop with Toshiba logo's lid upward.",
+    "Fully open the the device with flat keyboard and screen.",
+    "Open the black laptop with reflective screen completely.",
+    "Grip and lift the black and silver laptop's lid.",
+    "Raise the folding laptop with screen and keyboard lid with the left arm.",
+    "Lift the portable folding laptop to open.",
+    "Use the left arm to open the portable folding laptop.",
+    "Hold the black laptop with reflective screen steady, lift lid.",
+    "Use the left arm to raise the black and silver laptop.",
+    "Raise the matte laptop with smooth screen using the left arm.",
+    "Lift the compact black and silver computer's lid using the left arm.",
+    "Lift and open the rectangular laptop with Toshiba logo.",
+    "Gently open the device with flat keyboard and screen.",
+    "Pull the lid of the matte laptop with smooth screen upward.",
+    "Raise the Toshiba laptop with folding design's top section.",
+    "Pull up the lid of the medium-sized laptop"
+  ],
+  "unseen": [
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the computer with black screen using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the portable Toshiba laptop using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the computer with black screen using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the portable Toshiba laptop's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the laptop computer with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the computer with black screen with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Grab the computer with black screen and open it.",
+    "Lift the laptop computer using the left arm",
+    "Lift the computer with black screen's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the portable Toshiba laptop's lid fully.",
+    "Open the laptop computer with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the computer with black screen carefully using the left arm.",
+    "Grab the portable Toshiba laptop and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the laptop computer with one motion.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the laptop computer's lid gently.",
+    "Pull up the laptop computer's lid.",
+    "Lift the laptop computer's lid fully.",
+    "Open the computer with black screen with care",
+    "Open the portable Toshiba laptop using the left arm.",
+    "Lift the computer with black screen using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the laptop computer carefully using the left arm.",
+    "Grab the laptop computer and open it.",
+    "Lift the portable Toshiba laptop using the left arm",
+    "Lift the portable Toshiba laptop's lid gently.",
+    "Pull up the computer with black screen's lid.",
+    "Lift the computer with black screen's lid fully.",
+    "Open the portable Toshiba laptop with care",
+    "Open the laptop computer using the left arm.",
+    "Lift the laptop computer using the left arm.",
+    "Open the portable Toshiba laptop with one motion.",
+    "Open the portable Toshiba laptop carefully using the left arm.",
+    "Grab the laptop computer and open it."
+  ]
+}

open_laptop/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}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base6",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base9",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base10",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "015_laptop/base7",
+            "{a}": "left"
+        }
+    }
+}

open_laptop/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick both the lace-up black and white shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Pick two the rounded-toe gym shoe, ensure tips facing left, and position in the bright orange shoe-box.",
+    "Lift two the lace-up shoe, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Use both arms to set two the white shoe with black accents in the orange cardboard shoe-box, tips left.",
+    "Place two the shoe with smooth leather upper in the rectangular shoe-box with orange lid, tip left when set.",
+    "Set two the shoe with smooth leather upper in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Ensure two the black-striped athletic shoe are in the bright orange shoe-box, tips facing left.",
+    "Handle two the black-striped athletic shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Move two the shoe with smooth leather upper, tip ends left, and set them in the orange cardboard shoe-box.",
+    "Lift and put two the rounded-toe gym shoe in the orange shoe-box, tips left.",
+    "Place two the white shoe with rubber bottom inside the Nike-branded orange shoe-box, make tips face left.",
+    "Grab two the black-striped athletic shoe, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Set two the white shoe in the orange Nike shoe-box with logo with tips left.",
+    "Put two the sports shoe, tips to the left, into the shoe-box with Nike printed logo.",
+    "Use hands to grab two the rounded-toe gym shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Pick up two the rounded-toe gym shoe, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the rounded-toe gym shoe into the shoe-box with Nike printed logo, tips left.",
+    "Lift two the lace-up black and white shoe, position them in the rectangular orange shoe-box, tips to the left.",
+    "Hold two the lace-up shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Put two the white shoe with rubber bottom in the smooth bright orange box with tips facing left.",
+    "Grab a pair of the black-striped athletic shoe, tips left, put them into the smooth orange box for shoes.",
+    "Grab both the white shoe and put them into the Nike-branded orange shoe-box, tips left.",
+    "With both arms, move two the black-striped athletic shoe into the bright orange shoe-box, tips facing left.",
+    "Put two the lace-up black and white shoe into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Take two the sports shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Grab both the white shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Lay down two the lace-up shoe in the shoe-box with Nike printed logo, tips oriented left.",
+    "Retrieve two the lace-up shoe, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Collect two the sports shoe, tips facing left, and put in the shoe-box with Nike printed logo.",
+    "Grab two the lace-up black and white shoe, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Pick up two the footwear with white top and set them in the medium orange box with smooth surface, tips left.",
+    "Hold two the footwear with white top, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Use arms to lift two the white shoe, tips left, and set in the smooth bright orange box.",
+    "Grasp two the white shoe with black accents, tips aligned left, and place them in the medium orange box with smooth surface.",
+    "Pick up two the lace-up black and white shoe together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the white shoe with black accents into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Pick up two the shoe with smooth leather upper, tips left, and set them in the bright orange shoe-box.",
+    "Move two the white shoe with rubber bottom into the medium orange box with smooth surface, ensure tips point left.",
+    "Set two the sports shoe into the the orange cardboard shoe-box, align tips to the left.",
+    "Transfer two the black-striped athletic shoe, tips left-aligned, into the orange shoe-box.",
+    "Make sure tips point left, then place the shoe with smooth leather upper in the medium orange box with smooth surface.",
+    "Position two the white shoe with black accents into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Arrange the two the lace-up shoe, tips left, inside the orange shoe-box.",
+    "Move a pair of the shoe with textured brown sole into the smooth bright orange box, left tips first.",
+    "Drop a pair of the rounded-toe gym shoe into the bright orange shoe-box, tips align left.",
+    "Place two the white shoe tips leftward into the the rectangular shoe-box with orange lid.",
+    "Place two the white shoe with rubber bottom into the smooth bright orange box, ensure shoe tips face left.",
+    "Grab and place two the white shoe in the medium orange box with smooth surface, tips left.",
+    "Stick both the brown sole shoe in the medium-sized box with Nike swoosh, shoe tips pointing left.",
+    "Pick two the shoe with textured brown sole, ensure tips facing left, and position in the orange Nike shoe-box with logo.",
+    "Lift two the brown sole shoe, ensure left tips, drop in the bright orange shoe-box.",
+    "Use both arms to set two the lace-up shoe in the smooth bright orange box, tips left.",
+    "Place two the shoe with smooth leather upper in the orange shoe-box, tip left when set.",
+    "Set two the brown sole shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Ensure two the footwear with white top are in the bright orange shoe-box, tips facing left.",
+    "Handle two the brown sole shoe, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Move two the sports shoe, tip ends left, and set them in the smooth orange box for shoes.",
+    "Lift and put two the white shoe with rubber bottom in the bright orange shoe-box, tips left.",
+    "Place two the black-striped athletic shoe inside the shoe-box with Nike printed logo, make tips face left.",
+    "Grab two the white shoe, tips left, place them carefully in the medium-sized box with Nike swoosh.",
+    "Set two the white shoe with black accents in the smooth orange box for shoes with tips left.",
+    "Put two the shoe with textured brown sole, tips to the left, into the orange Nike shoe-box with logo.",
+    "Use hands to grab two the white shoe, tips left, drop into the Nike-branded orange shoe-box.",
+    "Pick up two the white shoe with black accents, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Use both arms to place two the shoe with textured brown sole into the medium-sized box with Nike swoosh, tips left.",
+    "Lift two the rounded-toe gym shoe, position them in the medium orange box with smooth surface, tips to the left.",
+    "Hold two the shoe with smooth leather upper, tips left, and place in the bright orange shoe-box.",
+    "Put two the lace-up black and white shoe in the medium orange box with smooth surface with tips facing left.",
+    "Grab a pair of the sports shoe, tips left, put them into the Nike-branded orange shoe-box.",
+    "Grab both the lace-up black and white shoe and put them into the rectangular orange shoe-box, tips left.",
+    "With both arms, move two the white shoe into the smooth bright orange box, tips facing left.",
+    "Put two the footwear with white top into the Nike-branded orange shoe-box, shoe tips left.",
+    "Take two the lace-up shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Grab both the rounded-toe gym shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Lay down two the shoe with smooth leather upper in the rectangular orange shoe-box, tips oriented left.",
+    "Retrieve two the white shoe with rubber bottom, orienting tips left, and place in the Nike-branded orange shoe-box.",
+    "Collect two the lace-up shoe, tips facing left, and put in the medium-sized box with Nike swoosh.",
+    "Grab two the shoe with smooth leather upper, tip left, place them in the Nike-branded orange shoe-box.",
+    "Pick up two the rounded-toe gym shoe and set them in the Nike-branded orange shoe-box, tips left.",
+    "Hold two the lace-up black and white shoe, drop them in the Nike-branded orange shoe-box, tips pointing left.",
+    "Use arms to lift two the sports shoe, tips left, and set in the rectangular orange shoe-box.",
+    "Grasp two the lace-up shoe, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Pick up two the white shoe together and place in the orange shoe-box, tips left.",
+    "Slide both the sports shoe into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Pick up two the black-striped athletic shoe, tips left, and set them in the Nike-branded orange shoe-box.",
+    "Move two the white shoe with black accents into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Set two the footwear with white top into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Transfer two the rounded-toe gym shoe, tips left-aligned, into the smooth bright orange box.",
+    "Make sure tips point left, then place the brown sole shoe in the smooth orange box for shoes.",
+    "Position two the black-striped athletic shoe into the rectangular orange shoe-box, shoe tips leftward.",
+    "Arrange the two the black-striped athletic shoe, tips left, inside the orange shoe-box.",
+    "Move a pair of the white shoe with black accents into the smooth bright orange box, left tips first.",
+    "Drop a pair of the white shoe with black accents into the rectangular shoe-box with orange lid, tips align left.",
+    "Place two the white shoe with rubber bottom tips leftward into the the orange shoe-box.",
+    "Place two the shoe with textured brown sole into the orange Nike shoe-box with logo, ensure shoe tips face left.",
+    "Grab and place two the rounded-toe gym shoe in the shoe-box with Nike printed logo, tips left.",
+    "Stick both the white shoe with rubber bottom in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Pick two the sports shoe, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Lift two the lace-up shoe, ensure left tips, drop in the medium orange box with smooth surface.",
+    "Use both arms to set two the white shoe with black accents in the rectangular shoe-box with orange lid, tips left."
+  ],
+  "unseen": [
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the medium cardboard shoe-box, tips left.",
+    "Lift two the shoe with black stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with striped design to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the white leather shoe with gum sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with black stripes, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with black stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design and set them in the orange box for keeping shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with black stripes, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the white leather shoe with gum sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the orange box for keeping shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with striped design to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with black stripes into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the orange box for keeping shoes.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with black stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the orange box for keeping shoes.",
+    "Grab two the shoe with black stripes and set them in the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with black stripes, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the white leather shoe with gum sole to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with black stripes into the orange box for keeping shoes, tips left.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with black stripes into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with striped design to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the medium cardboard shoe-box, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with striped design to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the orange box for keeping shoes, tips left.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the orange box for keeping shoes.",
+    "Grab two the shoe with striped design and set them in the orange box for keeping shoes, tips left.",
+    "Lift two the shoe with striped design, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place two the single red shoe tips leftward into the the smooth orange box for shoes.",
+    "Pick up two the lace-up red sports shoe together and place in the shoe-box with Nike printed logo, tips left.",
+    "Lift two the medium red shoe, ensure left tips, drop in the bright orange shoe-box.",
+    "Place two the red shoe with white sole inside the orange Nike shoe-box with logo, make tips face left.",
+    "Put two the sports shoe, tips to the left, into the smooth bright orange box.",
+    "Grab two the footwear with red top white sole, tip left, place them in the orange shoe-box.",
+    "Slide both the medium red shoe into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Put two the red sneaker in the smooth bright orange box with tips facing left.",
+    "Use both arms to place two the red shoe rounded at front into the orange Nike shoe-box with logo, tips left.",
+    "Place two the shoe with flat rubber sole in the orange Nike shoe-box with logo, tip left when set.",
+    "Move two the red shoe rounded at front, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Pick up two the footwear with red top white sole, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "Use arms to lift two the red shoe with white sole, tips left, and set in the smooth orange box for shoes.",
+    "Set two the footwear with red top white sole in the orange shoe-box with tips left.",
+    "Grab two the white bottom sports shoe, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "With both arms, move two the red shoe with white sole into the shoe-box with Nike printed logo, tips facing left.",
+    "Grab and place two the grooved sole red shoe in the smooth orange box for shoes, tips left.",
+    "Take two the red shoe with white sole, ensure tips left, place in the rectangular orange shoe-box.",
+    "Pick two the lace-up red sports shoe, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Lift and put two the red shoe with white sole in the medium orange box with smooth surface, tips left.",
+    "Set two the grooved sole red shoe into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Grab a pair of the red shoe rounded at front, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Ensure two the medium red shoe are in the orange shoe-box, tips facing left.",
+    "Grasp two the single red shoe, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Collect two the smooth-textured red shoe, tips facing left, and put in the orange cardboard shoe-box.",
+    "Grab both the smooth-textured red shoe and put them into the shoe-box with Nike printed logo, tips left.",
+    "Handle two the sports shoe, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Put two the sports shoe into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Lay down two the sports shoe in the orange cardboard shoe-box, tips oriented left.",
+    "Transfer two the smooth-textured red shoe, tips left-aligned, into the orange Nike shoe-box with logo.",
+    "Move two the footwear with red top white sole into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Hold two the footwear with red top white sole, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Place two the white bottom sports shoe into the smooth bright orange box, ensure shoe tips face left.",
+    "Lift two the red shoe with white sole, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Arrange the two the footwear with red top white sole, tips left, inside the orange Nike shoe-box with logo.",
+    "Drop a pair of the shoe with flat rubber sole into the smooth orange box for shoes, tips align left.",
+    "Move a pair of the lace-up red sports shoe into the orange shoe-box, left tips first.",
+    "Pick up two the medium red shoe, tips left, and set them in the medium-sized box with Nike swoosh.",
+    "Make sure tips point left, then place the red shoe with white sole in the Nike-branded orange shoe-box.",
+    "Hold two the smooth-textured red shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Position two the white bottom sports shoe into the rectangular orange shoe-box, shoe tips leftward.",
+    "Stick both the sports shoe in the orange shoe-box, shoe tips pointing left.",
+    "Retrieve two the red sneaker, orienting tips left, and place in the orange Nike shoe-box with logo.",
+    "Set two the medium red shoe in the the medium orange box with smooth surface, tips pointing left.",
+    "Use hands to grab two the smooth-textured red shoe, tips left, drop into the orange cardboard shoe-box.",
+    "Pick up two the smooth-textured red shoe and set them in the medium orange box with smooth surface, tips left.",
+    "Grab both the footwear with red top white sole, ensure tips left, place in the orange cardboard shoe-box.",
+    "Use both arms to set two the shoe with flat rubber sole in the medium orange box with smooth surface, tips left.",
+    "Place two the lace-up red sports shoe tips leftward into the the Nike-branded orange shoe-box.",
+    "Pick up two the red shoe with white sole together and place in the orange Nike shoe-box with logo, tips left.",
+    "Lift two the smooth-textured red shoe, ensure left tips, drop in the medium-sized box with Nike swoosh.",
+    "Place two the white bottom sports shoe inside the smooth bright orange box, make tips face left.",
+    "Put two the lace-up red sports shoe, tips to the left, into the shoe-box with Nike printed logo.",
+    "Grab two the medium red shoe, tip left, place them in the orange shoe-box.",
+    "Slide both the shoe with flat rubber sole into the smooth orange box for shoes with tips pointing left.",
+    "Put two the red shoe rounded at front in the smooth orange box for shoes with tips facing left.",
+    "Use both arms to place two the medium red shoe into the shoe-box with Nike printed logo, tips left.",
+    "Place two the red sneaker in the Nike-branded orange shoe-box, tip left when set.",
+    "Move two the medium red shoe, tip ends left, and set them in the orange Nike shoe-box with logo.",
+    "Pick up two the lace-up red sports shoe, tips left, drop them into the orange cardboard shoe-box.",
+    "Use arms to lift two the white bottom sports shoe, tips left, and set in the rectangular orange shoe-box.",
+    "Set two the white bottom sports shoe in the medium-sized box with Nike swoosh with tips left.",
+    "Grab two the single red shoe, tips left, place them carefully in the Nike-branded orange shoe-box.",
+    "With both arms, move two the single red shoe into the smooth bright orange box, tips facing left.",
+    "Grab and place two the medium red shoe in the orange shoe-box, tips left.",
+    "Take two the red shoe with white sole, ensure tips left, place in the orange shoe-box.",
+    "Pick two the red shoe rounded at front, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Lift and put two the red shoe rounded at front in the orange cardboard shoe-box, tips left.",
+    "Set two the lace-up red sports shoe into the the smooth bright orange box, align tips to the left.",
+    "Grab a pair of the red shoe rounded at front, tips left, put them into the medium orange box with smooth surface.",
+    "Ensure two the sports shoe are in the orange shoe-box, tips facing left.",
+    "Grasp two the single red shoe, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Collect two the sports shoe, tips facing left, and put in the smooth bright orange box.",
+    "Grab both the red shoe rounded at front and put them into the orange cardboard shoe-box, tips left.",
+    "Handle two the grooved sole red shoe, tips directed left, and drop them into the shoe-box with Nike printed logo.",
+    "Put two the white bottom sports shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Lay down two the shoe with flat rubber sole in the orange cardboard shoe-box, tips oriented left.",
+    "Transfer two the sports shoe, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Move two the red sneaker into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Hold two the grooved sole red shoe, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Place two the lace-up red sports shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Lift two the white bottom sports shoe, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Arrange the two the shoe with flat rubber sole, tips left, inside the rectangular orange shoe-box.",
+    "Drop a pair of the single red shoe into the orange shoe-box, tips align left.",
+    "Move a pair of the white bottom sports shoe into the orange shoe-box, left tips first.",
+    "Pick up two the lace-up red sports shoe, tips left, and set them in the medium-sized box with Nike swoosh.",
+    "Make sure tips point left, then place the single red shoe in the medium orange box with smooth surface.",
+    "Hold two the white bottom sports shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Position two the sports shoe into the medium orange box with smooth surface, shoe tips leftward.",
+    "Stick both the red shoe rounded at front in the smooth bright orange box, shoe tips pointing left.",
+    "Retrieve two the single red shoe, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Set two the red shoe rounded at front in the the orange cardboard shoe-box, tips pointing left.",
+    "Use hands to grab two the single red shoe, tips left, drop into the rectangular orange shoe-box.",
+    "Pick up two the red shoe rounded at front and set them in the shoe-box with Nike printed logo, tips left.",
+    "Grab both the red shoe rounded at front, ensure tips left, place in the orange shoe-box.",
+    "Use both arms to set two the smooth-textured red shoe in the smooth orange box for shoes, tips left.",
+    "Place two the sports shoe tips leftward into the the Nike-branded orange shoe-box.",
+    "Pick up two the red shoe with white sole together and place in the orange Nike shoe-box with logo, tips left.",
+    "Lift two the red sneaker, ensure left tips, drop in the rectangular orange shoe-box.",
+    "Place two the sports shoe inside the smooth orange box for shoes, make tips face left."
+  ],
+  "unseen": [
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Use both arms to move two the synthetic shoe upper to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the synthetic shoe upper in the the orange box for keeping shoes, tips pointing left.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red shoe and set them in the orange box for keeping shoes, tips left.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the synthetic shoe upper, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the red shoe, place left tips in the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place two the green upper white logo shoe in the Nike-branded orange shoe-box, tip left when set.",
+    "Position two the sports shoe green with beige sole into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Grab and place two the shoe with thick ribbed sole in the orange cardboard shoe-box, tips left.",
+    "Put two the white-laced green running shoe into the rectangular orange shoe-box, shoe tips left.",
+    "Put two the rubber-soled green sneaker in the rectangular shoe-box with orange lid with tips facing left.",
+    "Ensure two the white-laced green running shoe are in the smooth orange box for shoes, tips facing left.",
+    "Lift two the sports shoe green with beige sole, position them in the orange cardboard shoe-box, tips to the left.",
+    "Grab two the shoe with beige sole, tips left, place them carefully in the smooth bright orange box.",
+    "Move a pair of the green lace-up sneaker into the orange shoe-box, left tips first.",
+    "Pick up two the white and green shoe together and place in the orange shoe-box, tips left.",
+    "Hold two the green upper white logo shoe, tips left, and place in the smooth orange box for shoes.",
+    "Take two the shoe with synthetic fabric body, ensure tips left, place in the medium orange box with smooth surface.",
+    "Use both arms to set two the white and green shoe in the Nike-branded orange shoe-box, tips left.",
+    "Handle two the shoe with thick ribbed sole, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "With both arms, move two the white and green shoe into the orange cardboard shoe-box, tips facing left.",
+    "Use hands to grab two the rubber-soled green sneaker, tips left, drop into the medium orange box with smooth surface.",
+    "Move two the white and green shoe into the rectangular orange shoe-box, ensure tips point left.",
+    "Grab two the shoe with synthetic fabric body, tip left, place them in the smooth orange box for shoes.",
+    "Pick up two the shoe with synthetic fabric body, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Use arms to lift two the shoe with thick ribbed sole, tips left, and set in the shoe-box with Nike printed logo.",
+    "Set two the footwear with padded heel into the the rectangular orange shoe-box, align tips to the left.",
+    "Transfer two the green upper white logo shoe, tips left-aligned, into the medium orange box with smooth surface.",
+    "Set two the smooth green shoe with laces in the the medium orange box with smooth surface, tips pointing left.",
+    "Place two the medium-sized green walking shoe tips leftward into the the smooth orange box for shoes.",
+    "Lift and put two the medium-sized green walking shoe in the medium orange box with smooth surface, tips left.",
+    "Arrange the two the shoe with beige sole, tips left, inside the rectangular orange shoe-box.",
+    "Place two the rubber-soled green sneaker into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Make sure tips point left, then place the rubber-soled green sneaker in the rectangular shoe-box with orange lid.",
+    "Grab a pair of the shoe with beige sole, tips left, put them into the rectangular orange shoe-box.",
+    "Grab both the footwear with padded heel and put them into the bright orange shoe-box, tips left.",
+    "Pick up two the shoe with thick ribbed sole and set them in the smooth bright orange box, tips left.",
+    "Hold two the sports shoe green with beige sole, drop them in the orange shoe-box, tips pointing left.",
+    "Slide both the white-laced green running shoe into the medium orange box with smooth surface with tips pointing left.",
+    "Move two the shoe with beige sole, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Set two the shoe with beige sole in the bright orange shoe-box with tips left.",
+    "Retrieve two the green lace-up sneaker, orienting tips left, and place in the rectangular shoe-box with orange lid.",
+    "Pick up two the shoe with synthetic fabric body, tips left, drop them into the orange cardboard shoe-box.",
+    "Lay down two the shoe with beige sole in the rectangular orange shoe-box, tips oriented left.",
+    "Use both arms to place two the shoe with beige sole into the orange shoe-box, tips left.",
+    "Put two the footwear with padded heel, tips to the left, into the smooth bright orange box.",
+    "Collect two the shoe with beige sole, tips facing left, and put in the orange cardboard shoe-box.",
+    "Grab both the shoe with beige sole, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Place two the green lace-up sneaker inside the Nike-branded orange shoe-box, make tips face left.",
+    "Pick two the sports shoe green with beige sole, ensure tips facing left, and position in the smooth bright orange box.",
+    "Lift two the shoe with thick ribbed sole, ensure left tips, drop in the orange cardboard shoe-box.",
+    "Grasp two the shoe with synthetic fabric body, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Drop a pair of the shoe with thick ribbed sole into the bright orange shoe-box, tips align left.",
+    "Stick both the green upper white logo shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Place two the green lace-up sneaker in the Nike-branded orange shoe-box, tip left when set.",
+    "Position two the footwear with padded heel into the medium-sized box with Nike swoosh, shoe tips leftward.",
+    "Grab and place two the white-laced green running shoe in the orange shoe-box, tips left.",
+    "Put two the white-laced green running shoe into the medium-sized box with Nike swoosh, shoe tips left.",
+    "Put two the green lace-up sneaker in the medium-sized box with Nike swoosh with tips facing left.",
+    "Ensure two the footwear with padded heel are in the shoe-box with Nike printed logo, tips facing left.",
+    "Lift two the shoe with synthetic fabric body, position them in the smooth bright orange box, tips to the left.",
+    "Grab two the white and green shoe, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Move a pair of the green upper white logo shoe into the orange cardboard shoe-box, left tips first.",
+    "Pick up two the rubber-soled green sneaker together and place in the rectangular shoe-box with orange lid, tips left.",
+    "Hold two the green upper white logo shoe, tips left, and place in the shoe-box with Nike printed logo.",
+    "Take two the rubber-soled green sneaker, ensure tips left, place in the smooth bright orange box.",
+    "Use both arms to set two the white-laced green running shoe in the medium orange box with smooth surface, tips left.",
+    "Handle two the green upper white logo shoe, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "With both arms, move two the rubber-soled green sneaker into the bright orange shoe-box, tips facing left.",
+    "Use hands to grab two the rubber-soled green sneaker, tips left, drop into the rectangular orange shoe-box.",
+    "Move two the sports shoe green with beige sole into the Nike-branded orange shoe-box, ensure tips point left.",
+    "Grab two the white-laced green running shoe, tip left, place them in the shoe-box with Nike printed logo.",
+    "Pick up two the rubber-soled green sneaker, tips left, and set them in the smooth orange box for shoes.",
+    "Use arms to lift two the shoe with thick ribbed sole, tips left, and set in the rectangular orange shoe-box.",
+    "Set two the smooth green shoe with laces into the the smooth orange box for shoes, align tips to the left.",
+    "Transfer two the sports shoe green with beige sole, tips left-aligned, into the smooth bright orange box.",
+    "Set two the white-laced green running shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Place two the medium-sized green walking shoe tips leftward into the the orange cardboard shoe-box.",
+    "Lift and put two the white-laced green running shoe in the smooth bright orange box, tips left.",
+    "Arrange the two the white and green shoe, tips left, inside the bright orange shoe-box.",
+    "Place two the green lace-up sneaker into the orange shoe-box, ensure shoe tips face left.",
+    "Make sure tips point left, then place the footwear with padded heel in the rectangular shoe-box with orange lid.",
+    "Grab a pair of the shoe with synthetic fabric body, tips left, put them into the orange shoe-box.",
+    "Grab both the medium-sized green walking shoe and put them into the shoe-box with Nike printed logo, tips left.",
+    "Pick up two the smooth green shoe with laces and set them in the rectangular orange shoe-box, tips left.",
+    "Hold two the white and green shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Slide both the white and green shoe into the smooth orange box for shoes with tips pointing left.",
+    "Move two the rubber-soled green sneaker, tip ends left, and set them in the medium orange box with smooth surface.",
+    "Set two the medium-sized green walking shoe in the bright orange shoe-box with tips left.",
+    "Retrieve two the footwear with padded heel, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Pick up two the sports shoe green with beige sole, tips left, drop them into the medium orange box with smooth surface.",
+    "Lay down two the white-laced green running shoe in the shoe-box with Nike printed logo, tips oriented left.",
+    "Use both arms to place two the medium-sized green walking shoe into the medium-sized box with Nike swoosh, tips left.",
+    "Put two the medium-sized green walking shoe, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Collect two the rubber-soled green sneaker, tips facing left, and put in the medium orange box with smooth surface.",
+    "Grab both the smooth green shoe with laces, ensure tips left, place in the medium orange box with smooth surface.",
+    "Place two the sports shoe green with beige sole inside the shoe-box with Nike printed logo, make tips face left.",
+    "Pick two the medium-sized green walking shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Lift two the medium-sized green walking shoe, ensure left tips, drop in the rectangular orange shoe-box.",
+    "Grasp two the white and green shoe, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Drop a pair of the shoe with beige sole into the rectangular shoe-box with orange lid, tips align left.",
+    "Stick both the white-laced green running shoe in the smooth orange box for shoes, shoe tips pointing left.",
+    "Place two the shoe with beige sole in the orange Nike shoe-box with logo, tip left when set.",
+    "Position two the rubber-soled green sneaker into the rectangular orange shoe-box, shoe tips leftward.",
+    "Grab and place two the white-laced green running shoe in the smooth bright orange box, tips left.",
+    "Put two the medium-sized green walking shoe into the medium orange box with smooth surface, shoe tips left."
+  ],
+  "unseen": [
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Grab two the beige-soled walking sneaker and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the beige-soled walking sneaker in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the beige-soled walking sneaker to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the green shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the green shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the beige-soled walking sneaker to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the green shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Grab two the beige-soled walking sneaker and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the running shoe with laces to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the green shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the green shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the green shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the beige-soled walking sneaker and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the running shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the beige-soled walking sneaker to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the green shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the running shoe with laces to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the orange box for keeping shoes.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab two the green shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the green shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the running shoe with laces into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the green shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the green shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab two the green shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the running shoe with laces in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the green shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the green shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the running shoe with laces to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the running shoe with laces, tips left, into the rectangular Nike box for shoes.",
+    "Grab two the beige-soled walking sneaker and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the green shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the medium cardboard shoe-box.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the green shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the running shoe with laces to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the green shoe, place left tips in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Drop a pair of the white and green shoe into the medium orange box with smooth surface, tips align left.",
+    "Use both arms to set two the rubber-soled green sneaker in the rectangular shoe-box with orange lid, tips left.",
+    "Set two the sports shoe green with beige sole in the the bright orange shoe-box, tips pointing left.",
+    "Position two the sports shoe green with beige sole into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Move two the shoe with beige sole into the bright orange shoe-box, ensure tips point left.",
+    "Put two the white and green shoe, tips to the left, into the shoe-box with Nike printed logo.",
+    "Take two the shoe with synthetic fabric body, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Use hands to grab two the green lace-up sneaker, tips left, drop into the smooth bright orange box.",
+    "Grab both the shoe with thick ribbed sole and put them into the orange shoe-box, tips left.",
+    "Move a pair of the shoe with thick ribbed sole into the smooth orange box for shoes, left tips first.",
+    "Pick up two the shoe with beige sole together and place in the shoe-box with Nike printed logo, tips left.",
+    "Pick up two the white-laced green running shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Put two the green upper white logo shoe into the smooth bright orange box, shoe tips left.",
+    "Hold two the shoe with synthetic fabric body, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Use both arms to place two the shoe with beige sole into the smooth orange box for shoes, tips left.",
+    "Slide both the green lace-up sneaker into the orange cardboard shoe-box with tips pointing left.",
+    "Pick up two the green lace-up sneaker, tips left, drop them into the bright orange shoe-box.",
+    "Set two the rubber-soled green sneaker in the shoe-box with Nike printed logo with tips left.",
+    "Lift and put two the rubber-soled green sneaker in the bright orange shoe-box, tips left.",
+    "Stick both the white and green shoe in the orange shoe-box, shoe tips pointing left.",
+    "Collect two the rubber-soled green sneaker, tips facing left, and put in the medium orange box with smooth surface.",
+    "Lift two the shoe with thick ribbed sole, position them in the orange shoe-box, tips to the left.",
+    "Place two the white-laced green running shoe tips leftward into the the medium orange box with smooth surface.",
+    "Grab and place two the shoe with thick ribbed sole in the smooth bright orange box, tips left.",
+    "Put two the shoe with beige sole in the medium-sized box with Nike swoosh with tips facing left.",
+    "Retrieve two the shoe with beige sole, orienting tips left, and place in the orange cardboard shoe-box.",
+    "Hold two the white and green shoe, tips left, and place in the smooth orange box for shoes.",
+    "Place two the shoe with beige sole in the Nike-branded orange shoe-box, tip left when set.",
+    "Place two the white and green shoe into the orange Nike shoe-box with logo, ensure shoe tips face left.",
+    "Grab two the sports shoe green with beige sole, tips left, place them carefully in the smooth orange box for shoes.",
+    "Grab a pair of the sports shoe green with beige sole, tips left, put them into the rectangular orange shoe-box.",
+    "Set two the white and green shoe into the the medium-sized box with Nike swoosh, align tips to the left.",
+    "Use arms to lift two the medium-sized green walking shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Lay down two the white-laced green running shoe in the bright orange shoe-box, tips oriented left.",
+    "Ensure two the shoe with thick ribbed sole are in the bright orange shoe-box, tips facing left.",
+    "Grasp two the shoe with thick ribbed sole, tips aligned left, and place them in the smooth orange box for shoes.",
+    "With both arms, move two the green lace-up sneaker into the smooth bright orange box, tips facing left.",
+    "Pick two the medium-sized green walking shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Handle two the green upper white logo shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Make sure tips point left, then place the footwear with padded heel in the smooth bright orange box.",
+    "Place two the footwear with padded heel inside the bright orange shoe-box, make tips face left.",
+    "Pick up two the medium-sized green walking shoe, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Grab both the medium-sized green walking shoe, ensure tips left, place in the orange shoe-box.",
+    "Move two the green lace-up sneaker, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Grab two the rubber-soled green sneaker, tip left, place them in the orange shoe-box.",
+    "Transfer two the white-laced green running shoe, tips left-aligned, into the smooth orange box for shoes.",
+    "Arrange the two the smooth green shoe with laces, tips left, inside the shoe-box with Nike printed logo.",
+    "Lift two the white and green shoe, ensure left tips, drop in the bright orange shoe-box.",
+    "Drop a pair of the white and green shoe into the shoe-box with Nike printed logo, tips align left.",
+    "Use both arms to set two the medium-sized green walking shoe in the shoe-box with Nike printed logo, tips left.",
+    "Set two the rubber-soled green sneaker in the the rectangular orange shoe-box, tips pointing left.",
+    "Position two the rubber-soled green sneaker into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Move two the white-laced green running shoe into the shoe-box with Nike printed logo, ensure tips point left.",
+    "Put two the medium-sized green walking shoe, tips to the left, into the smooth bright orange box.",
+    "Take two the white-laced green running shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Use hands to grab two the shoe with synthetic fabric body, tips left, drop into the rectangular orange shoe-box.",
+    "Grab both the white-laced green running shoe and put them into the medium orange box with smooth surface, tips left.",
+    "Move a pair of the shoe with beige sole into the smooth orange box for shoes, left tips first.",
+    "Pick up two the rubber-soled green sneaker together and place in the orange cardboard shoe-box, tips left.",
+    "Pick up two the footwear with padded heel and set them in the smooth orange box for shoes, tips left.",
+    "Put two the green lace-up sneaker into the shoe-box with Nike printed logo, shoe tips left.",
+    "Hold two the green lace-up sneaker, drop them in the medium orange box with smooth surface, tips pointing left.",
+    "Use both arms to place two the medium-sized green walking shoe into the orange shoe-box, tips left.",
+    "Slide both the white and green shoe into the rectangular orange shoe-box with tips pointing left.",
+    "Pick up two the white-laced green running shoe, tips left, drop them into the orange shoe-box.",
+    "Set two the footwear with padded heel in the smooth bright orange box with tips left.",
+    "Lift and put two the green lace-up sneaker in the medium orange box with smooth surface, tips left.",
+    "Stick both the rubber-soled green sneaker in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Collect two the shoe with thick ribbed sole, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Lift two the shoe with thick ribbed sole, position them in the rectangular orange shoe-box, tips to the left.",
+    "Place two the sports shoe green with beige sole tips leftward into the the bright orange shoe-box.",
+    "Grab and place two the shoe with beige sole in the smooth bright orange box, tips left.",
+    "Put two the green upper white logo shoe in the orange Nike shoe-box with logo with tips facing left.",
+    "Retrieve two the sports shoe green with beige sole, orienting tips left, and place in the bright orange shoe-box.",
+    "Hold two the smooth green shoe with laces, tips left, and place in the bright orange shoe-box.",
+    "Place two the shoe with thick ribbed sole in the medium-sized box with Nike swoosh, tip left when set.",
+    "Place two the shoe with synthetic fabric body into the bright orange shoe-box, ensure shoe tips face left.",
+    "Grab two the shoe with thick ribbed sole, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Grab a pair of the shoe with thick ribbed sole, tips left, put them into the bright orange shoe-box.",
+    "Set two the medium-sized green walking shoe into the the smooth orange box for shoes, align tips to the left.",
+    "Use arms to lift two the smooth green shoe with laces, tips left, and set in the rectangular shoe-box with orange lid.",
+    "Lay down two the green upper white logo shoe in the shoe-box with Nike printed logo, tips oriented left.",
+    "Ensure two the green lace-up sneaker are in the smooth orange box for shoes, tips facing left.",
+    "Grasp two the green lace-up sneaker, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "With both arms, move two the footwear with padded heel into the bright orange shoe-box, tips facing left.",
+    "Pick two the green lace-up sneaker, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Handle two the shoe with synthetic fabric body, tips directed left, and drop them into the smooth bright orange box.",
+    "Make sure tips point left, then place the white-laced green running shoe in the smooth bright orange box.",
+    "Place two the white-laced green running shoe inside the rectangular orange shoe-box, make tips face left.",
+    "Pick up two the shoe with thick ribbed sole, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Grab both the rubber-soled green sneaker, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Move two the shoe with synthetic fabric body, tip ends left, and set them in the smooth bright orange box.",
+    "Grab two the smooth green shoe with laces, tip left, place them in the smooth orange box for shoes.",
+    "Transfer two the footwear with padded heel, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Arrange the two the footwear with padded heel, tips left, inside the shoe-box with Nike printed logo.",
+    "Lift two the white-laced green running shoe, ensure left tips, drop in the bright orange shoe-box.",
+    "Drop a pair of the shoe with thick ribbed sole into the Nike-branded orange shoe-box, tips align left.",
+    "Use both arms to set two the smooth green shoe with laces in the orange shoe-box, tips left.",
+    "Set two the rubber-soled green sneaker in the the rectangular orange shoe-box, tips pointing left.",
+    "Position two the footwear with padded heel into the orange Nike shoe-box with logo, shoe tips leftward."
+  ],
+  "unseen": [
+    "Grab a pair of the running shoe with laces, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the green shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the beige-soled walking sneaker to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the running shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Grab two the running shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the green shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the green shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Grab two the running shoe with laces and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the beige-soled walking sneaker to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the beige-soled walking sneaker in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the beige-soled walking sneaker and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the green shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the running shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the green shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the green shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the running shoe with laces, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the running shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the running shoe with laces, place left tips in the orange box for keeping shoes.",
+    "Grab two the green shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the green shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the green shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the green shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the beige-soled walking sneaker, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the running shoe with laces, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the beige-soled walking sneaker in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the running shoe with laces into the medium cardboard shoe-box, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the medium cardboard shoe-box.",
+    "Grab two the running shoe with laces and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the beige-soled walking sneaker to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the beige-soled walking sneaker into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the green shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the beige-soled walking sneaker and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the green shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the green shoe, point tips left, place in the orange box for keeping shoes.",
+    "Put a pair of the running shoe with laces in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the green shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the green shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the green shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the beige-soled walking sneaker to the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the running shoe with laces, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the beige-soled walking sneaker, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the beige-soled walking sneaker in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the running shoe with laces into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the beige-soled walking sneaker, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the medium cardboard shoe-box.",
+    "Grab two the green shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the green shoe to the orange box for keeping shoes, tips pointing left.",
+    "Lift two the green shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the running shoe with laces, point tips left, place in the medium cardboard shoe-box.",
+    "Put a pair of the green shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the green shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the running shoe with laces, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the beige-soled walking sneaker, place left tips in the medium cardboard shoe-box."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up two the shoe for walking together and place in the Nike-branded orange shoe-box, tips left.",
+    "Position two the synthetic leather shoe into the smooth bright orange box, shoe tips leftward.",
+    "Put two the synthetic leather shoe into the bright orange shoe-box, shoe tips left.",
+    "Pick up two the shoe with lace holes and set them in the orange cardboard shoe-box, tips left.",
+    "Hold two the medium white shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Lift and put two the medium white shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Hold two the synthetic leather shoe, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Grab two the shoe with textured sole, tip left, place them in the medium orange box with smooth surface.",
+    "Collect two the shoe with lace holes, tips facing left, and put in the smooth orange box for shoes.",
+    "Put two the shoe with lace holes, tips to the left, into the smooth orange box for shoes.",
+    "Set two the shoe with curved sole in the the medium orange box with smooth surface, tips pointing left.",
+    "Place two the shoe with textured sole tips leftward into the the medium orange box with smooth surface.",
+    "Pick two the shoe for walking, ensure tips facing left, and position in the bright orange shoe-box.",
+    "Stick both the smooth white shoe in the orange shoe-box, shoe tips pointing left.",
+    "Make sure tips point left, then place the white sneaker shoe in the orange Nike shoe-box with logo.",
+    "Put two the shoe for walking in the orange Nike shoe-box with logo with tips facing left.",
+    "Arrange the two the shoe with patterned bottom, tips left, inside the shoe-box with Nike printed logo.",
+    "Grasp two the white shoe with rubber sole, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Grab two the medium white shoe, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Use both arms to set two the shoe with lace holes in the orange Nike shoe-box with logo, tips left.",
+    "Place two the white sneaker shoe inside the rectangular shoe-box with orange lid, make tips face left.",
+    "Use arms to lift two the shoe with textured sole, tips left, and set in the bright orange shoe-box.",
+    "Transfer two the shoe for walking, tips left-aligned, into the bright orange shoe-box.",
+    "Lift two the shoe with patterned bottom, position them in the orange shoe-box, tips to the left.",
+    "Grab and place two the white sneaker shoe in the Nike-branded orange shoe-box, tips left.",
+    "Move a pair of the shoe with textured sole into the smooth orange box for shoes, left tips first.",
+    "Move two the synthetic leather shoe into the rectangular orange shoe-box, ensure tips point left.",
+    "Pick up two the medium-sized rounded white shoe, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Lift two the rubber sole shoe, ensure left tips, drop in the bright orange shoe-box.",
+    "Place two the medium white shoe into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Lay down two the smooth white shoe in the rectangular orange shoe-box, tips oriented left.",
+    "Ensure two the white shoe with rubber sole are in the orange Nike shoe-box with logo, tips facing left.",
+    "Set two the smooth white shoe in the rectangular orange shoe-box with tips left.",
+    "Drop a pair of the white shoe with rubber sole into the rectangular orange shoe-box, tips align left.",
+    "Take two the medium-sized rounded white shoe, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Handle two the shoe with textured sole, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Pick up two the shoe for walking, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Place two the shoe with patterned bottom in the orange shoe-box, tip left when set.",
+    "Retrieve two the medium-sized rounded white shoe, orienting tips left, and place in the bright orange shoe-box.",
+    "Use hands to grab two the medium-sized rounded white shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Set two the shoe with lace holes into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Grab a pair of the shoe with lace holes, tips left, put them into the bright orange shoe-box.",
+    "Grab both the shoe with lace holes and put them into the bright orange shoe-box, tips left.",
+    "With both arms, move two the medium white shoe into the orange cardboard shoe-box, tips facing left.",
+    "Use both arms to place two the white sneaker shoe into the shoe-box with Nike printed logo, tips left.",
+    "Grab both the smooth white shoe, ensure tips left, place in the smooth bright orange box.",
+    "Move two the shoe for walking, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Slide both the white sneaker shoe into the shoe-box with Nike printed logo with tips pointing left.",
+    "Pick up two the medium-sized rounded white shoe together and place in the Nike-branded orange shoe-box, tips left.",
+    "Position two the synthetic leather shoe into the smooth bright orange box, shoe tips leftward.",
+    "Put two the shoe with curved sole into the medium orange box with smooth surface, shoe tips left.",
+    "Pick up two the synthetic leather shoe and set them in the Nike-branded orange shoe-box, tips left.",
+    "Hold two the medium-sized rounded white shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Lift and put two the shoe with patterned bottom in the smooth bright orange box, tips left.",
+    "Hold two the shoe with patterned bottom, drop them in the bright orange shoe-box, tips pointing left.",
+    "Grab two the medium-sized rounded white shoe, tip left, place them in the Nike-branded orange shoe-box.",
+    "Collect two the smooth white shoe, tips facing left, and put in the Nike-branded orange shoe-box.",
+    "Put two the synthetic leather shoe, tips to the left, into the shoe-box with Nike printed logo.",
+    "Set two the shoe with curved sole in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Place two the shoe with lace holes tips leftward into the the orange shoe-box.",
+    "Pick two the medium white shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Stick both the white shoe with rubber sole in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Make sure tips point left, then place the medium-sized rounded white shoe in the orange Nike shoe-box with logo.",
+    "Put two the shoe with lace holes in the orange shoe-box with tips facing left.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the orange cardboard shoe-box.",
+    "Grasp two the rubber sole shoe, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Grab two the smooth white shoe, tips left, place them carefully in the medium orange box with smooth surface.",
+    "Use both arms to set two the medium white shoe in the medium orange box with smooth surface, tips left.",
+    "Place two the shoe with curved sole inside the orange shoe-box, make tips face left.",
+    "Use arms to lift two the medium white shoe, tips left, and set in the bright orange shoe-box.",
+    "Transfer two the rubber sole shoe, tips left-aligned, into the orange cardboard shoe-box.",
+    "Lift two the medium white shoe, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Grab and place two the shoe for walking in the medium-sized box with Nike swoosh, tips left.",
+    "Move a pair of the shoe with lace holes into the orange cardboard shoe-box, left tips first.",
+    "Move two the white sneaker shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Pick up two the rubber sole shoe, tips left, and set them in the rectangular orange shoe-box.",
+    "Lift two the smooth white shoe, ensure left tips, drop in the medium-sized box with Nike swoosh.",
+    "Place two the shoe with curved sole into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Lay down two the white shoe with rubber sole in the shoe-box with Nike printed logo, tips oriented left.",
+    "Ensure two the medium white shoe are in the orange shoe-box, tips facing left.",
+    "Set two the rubber sole shoe in the rectangular shoe-box with orange lid with tips left.",
+    "Drop a pair of the shoe with patterned bottom into the Nike-branded orange shoe-box, tips align left.",
+    "Take two the medium white shoe, ensure tips left, place in the orange shoe-box.",
+    "Handle two the shoe with lace holes, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Pick up two the synthetic leather shoe, tips left, drop them into the rectangular orange shoe-box.",
+    "Place two the smooth white shoe in the rectangular shoe-box with orange lid, tip left when set.",
+    "Retrieve two the white sneaker shoe, orienting tips left, and place in the orange shoe-box.",
+    "Use hands to grab two the synthetic leather shoe, tips left, drop into the orange Nike shoe-box with logo.",
+    "Set two the shoe with patterned bottom into the the smooth bright orange box, align tips to the left.",
+    "Grab a pair of the white shoe with rubber sole, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Grab both the medium white shoe and put them into the shoe-box with Nike printed logo, tips left.",
+    "With both arms, move two the white sneaker shoe into the bright orange shoe-box, tips facing left.",
+    "Use both arms to place two the rubber sole shoe into the bright orange shoe-box, tips left.",
+    "Grab both the shoe with textured sole, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Move two the white shoe with rubber sole, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Slide both the shoe with textured sole into the medium orange box with smooth surface with tips pointing left.",
+    "Pick up two the white shoe with rubber sole together and place in the smooth bright orange box, tips left.",
+    "Position two the shoe with curved sole into the smooth bright orange box, shoe tips leftward.",
+    "Put two the rubber sole shoe into the bright orange shoe-box, shoe tips left.",
+    "Pick up two the smooth white shoe and set them in the orange shoe-box, tips left."
+  ],
+  "unseen": [
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the rounded white shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the medium adult shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the white shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the rounded white shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the medium adult shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the rounded white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the rounded white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the medium adult shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the medium adult shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the medium adult shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the white shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the medium adult shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the white shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the rounded white shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the rounded white shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the medium adult shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the medium adult shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab a pair of the rounded shoe with visible straps, tips left, put them into the medium-sized box with Nike swoosh.",
+    "Put two the shoe with textured bottom, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Arrange the two the shoe with textured bottom, tips left, inside the bright orange shoe-box.",
+    "Collect two the brown shoe with strap loops, tips facing left, and put in the smooth bright orange box.",
+    "Use both arms to place two the shoe with red green white pattern into the Nike-branded orange shoe-box, tips left.",
+    "Lift and put two the shoe with red green white pattern in the smooth orange box for shoes, tips left.",
+    "Use arms to lift two the light brown shoe with white sole, tips left, and set in the bright orange shoe-box.",
+    "Grab two the plastic brown shoe, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Drop a pair of the shoe with colorful stripes into the orange cardboard shoe-box, tips align left.",
+    "Move two the shoe with textured bottom, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Put two the shoe with open straps into the smooth bright orange box, shoe tips left.",
+    "Grasp two the shoe with open straps, tips aligned left, and place them in the orange cardboard shoe-box.",
+    "Retrieve two the shoe with rounded and open form, orienting tips left, and place in the smooth orange box for shoes.",
+    "Grab both the small brown footwear replica and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Use both arms to set two the shoe with rounded and open form in the bright orange shoe-box, tips left.",
+    "Set two the rounded shoe with visible straps in the rectangular orange shoe-box with tips left.",
+    "Position two the light brown shoe into the smooth orange box for shoes, shoe tips leftward.",
+    "Ensure two the light brown shoe with white sole are in the Nike-branded orange shoe-box, tips facing left.",
+    "Pick up two the light brown shoe with white sole, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Pick up two the brown shoe with strap loops together and place in the smooth orange box for shoes, tips left.",
+    "Handle two the shoe with textured bottom, tips directed left, and drop them into the medium orange box with smooth surface.",
+    "Place two the shoe with colorful stripes inside the smooth bright orange box, make tips face left.",
+    "Transfer two the shoe with red green white pattern, tips left-aligned, into the shoe-box with Nike printed logo.",
+    "Place two the shoe with colorful stripes in the shoe-box with Nike printed logo, tip left when set.",
+    "Place two the light brown shoe tips leftward into the the orange cardboard shoe-box.",
+    "Place two the shoe with open straps into the rectangular shoe-box with orange lid, ensure shoe tips face left.",
+    "Put two the plastic brown shoe in the orange shoe-box with tips facing left.",
+    "Hold two the light brown shoe, tips left, and place in the orange shoe-box.",
+    "Set two the medium-sized brown shoe into the the bright orange shoe-box, align tips to the left.",
+    "Stick both the brown shoe with strap loops in the orange Nike shoe-box with logo, shoe tips pointing left.",
+    "Move a pair of the light brown shoe with white sole into the orange cardboard shoe-box, left tips first.",
+    "Hold two the small brown footwear replica, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Slide both the rounded shoe with visible straps into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Take two the light brown shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Lift two the shoe with red green white pattern, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Pick two the medium-sized brown shoe, ensure tips facing left, and position in the smooth bright orange box.",
+    "With both arms, move two the shoe with textured bottom into the smooth orange box for shoes, tips facing left.",
+    "Use hands to grab two the shoe with red green white pattern, tips left, drop into the Nike-branded orange shoe-box.",
+    "Pick up two the small brown footwear replica and set them in the orange shoe-box, tips left.",
+    "Lift two the shoe with red green white pattern, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Grab and place two the rounded shoe with visible straps in the bright orange shoe-box, tips left.",
+    "Move two the shoe with red green white pattern into the rectangular orange shoe-box, ensure tips point left.",
+    "Pick up two the light brown shoe, tips left, drop them into the bright orange shoe-box.",
+    "Grab two the shoe with rounded and open form, tip left, place them in the smooth bright orange box.",
+    "Grab both the plastic brown shoe, ensure tips left, place in the medium orange box with smooth surface.",
+    "Make sure tips point left, then place the brown shoe with strap loops in the medium orange box with smooth surface.",
+    "Set two the shoe with textured bottom in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "Lay down two the brown shoe with strap loops in the smooth bright orange box, tips oriented left.",
+    "Grab a pair of the shoe with open straps, tips left, put them into the Nike-branded orange shoe-box.",
+    "Put two the medium-sized brown shoe, tips to the left, into the rectangular shoe-box with orange lid.",
+    "Arrange the two the shoe with red green white pattern, tips left, inside the smooth orange box for shoes.",
+    "Collect two the light brown shoe, tips facing left, and put in the medium-sized box with Nike swoosh.",
+    "Use both arms to place two the brown shoe with strap loops into the orange cardboard shoe-box, tips left.",
+    "Lift and put two the small brown footwear replica in the rectangular shoe-box with orange lid, tips left.",
+    "Use arms to lift two the small brown footwear replica, tips left, and set in the rectangular orange shoe-box.",
+    "Grab two the light brown shoe, tips left, place them carefully in the orange shoe-box.",
+    "Drop a pair of the shoe with textured bottom into the medium orange box with smooth surface, tips align left.",
+    "Move two the shoe with open straps, tip ends left, and set them in the smooth bright orange box.",
+    "Put two the light brown shoe with white sole into the rectangular shoe-box with orange lid, shoe tips left.",
+    "Grasp two the shoe with red green white pattern, tips aligned left, and place them in the bright orange shoe-box.",
+    "Retrieve two the small brown footwear replica, orienting tips left, and place in the orange cardboard shoe-box.",
+    "Grab both the shoe with rounded and open form and put them into the shoe-box with Nike printed logo, tips left.",
+    "Use both arms to set two the small brown footwear replica in the medium orange box with smooth surface, tips left.",
+    "Set two the shoe with red green white pattern in the Nike-branded orange shoe-box with tips left.",
+    "Position two the medium-sized brown shoe into the orange Nike shoe-box with logo, shoe tips leftward.",
+    "Ensure two the shoe with textured bottom are in the bright orange shoe-box, tips facing left.",
+    "Pick up two the small brown footwear replica, tips left, and set them in the smooth orange box for shoes.",
+    "Pick up two the brown shoe with strap loops together and place in the Nike-branded orange shoe-box, tips left.",
+    "Handle two the brown shoe with strap loops, tips directed left, and drop them into the orange shoe-box.",
+    "Place two the shoe with open straps inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Transfer two the medium-sized brown shoe, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Place two the shoe with colorful stripes in the orange shoe-box, tip left when set.",
+    "Place two the rounded shoe with visible straps tips leftward into the the rectangular orange shoe-box.",
+    "Place two the medium-sized brown shoe into the Nike-branded orange shoe-box, ensure shoe tips face left.",
+    "Put two the plastic brown shoe in the smooth bright orange box with tips facing left.",
+    "Hold two the plastic brown shoe, tips left, and place in the shoe-box with Nike printed logo.",
+    "Set two the shoe with red green white pattern into the the orange Nike shoe-box with logo, align tips to the left.",
+    "Stick both the shoe with open straps in the bright orange shoe-box, shoe tips pointing left.",
+    "Move a pair of the shoe with red green white pattern into the medium-sized box with Nike swoosh, left tips first.",
+    "Hold two the shoe with open straps, drop them in the Nike-branded orange shoe-box, tips pointing left.",
+    "Slide both the small brown footwear replica into the bright orange shoe-box with tips pointing left.",
+    "Take two the rounded shoe with visible straps, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Lift two the medium-sized brown shoe, position them in the smooth bright orange box, tips to the left.",
+    "Pick two the rounded shoe with visible straps, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "With both arms, move two the light brown shoe into the rectangular orange shoe-box, tips facing left.",
+    "Use hands to grab two the small brown footwear replica, tips left, drop into the Nike-branded orange shoe-box.",
+    "Pick up two the shoe with red green white pattern and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Lift two the light brown shoe with white sole, ensure left tips, drop in the orange cardboard shoe-box.",
+    "Grab and place two the shoe with textured bottom in the medium orange box with smooth surface, tips left.",
+    "Move two the plastic brown shoe into the rectangular shoe-box with orange lid, ensure tips point left.",
+    "Pick up two the light brown shoe with white sole, tips left, drop them into the rectangular orange shoe-box.",
+    "Grab two the shoe with rounded and open form, tip left, place them in the smooth orange box for shoes.",
+    "Grab both the small brown footwear replica, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Make sure tips point left, then place the brown shoe with strap loops in the shoe-box with Nike printed logo.",
+    "Set two the plastic brown shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Lay down two the shoe with rounded and open form in the orange cardboard shoe-box, tips oriented left.",
+    "Grab a pair of the shoe with red green white pattern, tips left, put them into the rectangular orange shoe-box.",
+    "Put two the shoe with open straps, tips to the left, into the orange Nike shoe-box with logo.",
+    "Arrange the two the rounded shoe with visible straps, tips left, inside the rectangular orange shoe-box.",
+    "Collect two the shoe with colorful stripes, tips facing left, and put in the rectangular shoe-box with orange lid."
+  ],
+  "unseen": [
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe model with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe model with ribbed sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe model with ribbed sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the brown shoe with green red stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the smooth plastic shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe model with ribbed sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the shoe model with ribbed sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the smooth plastic shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe model with ribbed sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the shoe model with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth plastic shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe model with ribbed sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with green red stripes into the rectangular Nike box for shoes, tips left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe model with ribbed sole to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the smooth plastic shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with green red stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the smooth plastic shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the medium cardboard shoe-box.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe model with ribbed sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with green red stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the orange box for keeping shoes.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the brown shoe with green red stripes into the orange box for keeping shoes, tips left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the brown shoe with green red stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the medium cardboard shoe-box.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Place two the shoe model with ribbed sole into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe model with ribbed sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the brown shoe with green red stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Place two the smooth plastic shoe into the orange box for keeping shoes, tips left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the brown shoe with green red stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the smooth plastic shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the brown shoe with green red stripes and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the orange box for keeping shoes.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Place two the brown shoe with green red stripes into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe model with ribbed sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift two the dual-tone shoe with sleek design, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Move two the shoe made of rubber and leather into the orange cardboard shoe-box, ensure tips point left.",
+    "Use both arms to place two the synthetic leather shoe into the orange Nike shoe-box with logo, tips left.",
+    "Take two the average adult-sized shoe, ensure tips left, place in the rectangular orange shoe-box.",
+    "Grasp two the shoe with smooth top and grippy sole, tips aligned left, and place them in the bright orange shoe-box.",
+    "Use hands to grab two the synthetic leather shoe, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Lay down two the dual-tone shoe with sleek design in the rectangular shoe-box with orange lid, tips oriented left.",
+    "Place two the shoe with curved sole in the smooth bright orange box, tip left when set.",
+    "Move a pair of the average adult-sized shoe into the medium orange box with smooth surface, left tips first.",
+    "Pick two the shoe with smooth top and grippy sole, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Set two the comfortable shoe for walking in the the bright orange shoe-box, tips pointing left.",
+    "Pick up two the black and white shoe together and place in the rectangular shoe-box with orange lid, tips left.",
+    "Use arms to lift two the dual-tone shoe with sleek design, tips left, and set in the bright orange shoe-box.",
+    "Lift two the medium-sized black and white shoe, position them in the orange shoe-box, tips to the left.",
+    "Ensure two the comfortable shoe for walking are in the rectangular orange shoe-box, tips facing left.",
+    "Grab a pair of the wearable foot protector shoe, tips left, put them into the rectangular shoe-box with orange lid.",
+    "Place two the black and white shoe tips leftward into the the orange shoe-box.",
+    "Put two the black and white shoe into the medium orange box with smooth surface, shoe tips left.",
+    "Retrieve two the shoe with curved sole, orienting tips left, and place in the smooth bright orange box.",
+    "Grab both the shoe made of rubber and leather, ensure tips left, place in the smooth bright orange box.",
+    "Drop a pair of the average adult-sized shoe into the medium orange box with smooth surface, tips align left.",
+    "Place two the synthetic leather shoe into the orange shoe-box, ensure shoe tips face left.",
+    "Make sure tips point left, then place the dual-tone shoe with sleek design in the smooth bright orange box.",
+    "Set two the black and white shoe in the Nike-branded orange shoe-box with tips left.",
+    "Stick both the dual-tone shoe with sleek design in the smooth bright orange box, shoe tips pointing left.",
+    "With both arms, move two the wearable foot protector shoe into the smooth bright orange box, tips facing left.",
+    "Hold two the shoe with curved sole, tips left, and place in the orange cardboard shoe-box.",
+    "Arrange the two the shoe with curved sole, tips left, inside the smooth orange box for shoes.",
+    "Handle two the average adult-sized shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Position two the synthetic leather shoe into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Grab both the black shoe with white accents and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the black and white shoe into the medium-sized box with Nike swoosh with tips pointing left.",
+    "Collect two the average adult-sized shoe, tips facing left, and put in the medium orange box with smooth surface.",
+    "Grab and place two the average adult-sized shoe in the orange Nike shoe-box with logo, tips left.",
+    "Grab two the black shoe with white accents, tips left, place them carefully in the smooth orange box for shoes.",
+    "Put two the black and white shoe in the orange shoe-box with tips facing left.",
+    "Pick up two the shoe made of rubber and leather, tips left, and set them in the bright orange shoe-box.",
+    "Set two the black and white shoe into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Place two the medium-sized black and white shoe inside the Nike-branded orange shoe-box, make tips face left.",
+    "Lift and put two the rubber-soled shoe with lace-up top in the rectangular orange shoe-box, tips left.",
+    "Put two the dual-tone shoe with sleek design, tips to the left, into the Nike-branded orange shoe-box.",
+    "Use both arms to set two the medium-sized black and white shoe in the bright orange shoe-box, tips left.",
+    "Move two the synthetic leather shoe, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Grab two the black and white shoe, tip left, place them in the Nike-branded orange shoe-box.",
+    "Pick up two the shoe with smooth top and grippy sole, tips left, drop them into the shoe-box with Nike printed logo.",
+    "Transfer two the synthetic leather shoe, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Hold two the shoe with smooth top and grippy sole, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Pick up two the rubber-soled shoe with lace-up top and set them in the rectangular orange shoe-box, tips left.",
+    "Lift two the black and white shoe, ensure left tips, drop in the orange Nike shoe-box with logo.",
+    "Move two the medium-sized black and white shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Use both arms to place two the medium-sized black and white shoe into the smooth bright orange box, tips left.",
+    "Take two the shoe with curved sole, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Grasp two the average adult-sized shoe, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the shoe with curved sole, tips left, drop into the shoe-box with Nike printed logo.",
+    "Lay down two the rubber-soled shoe with lace-up top in the medium-sized box with Nike swoosh, tips oriented left.",
+    "Place two the medium-sized black and white shoe in the smooth orange box for shoes, tip left when set.",
+    "Move a pair of the synthetic leather shoe into the orange shoe-box, left tips first.",
+    "Pick two the shoe with curved sole, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Set two the medium-sized black and white shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Pick up two the shoe with smooth top and grippy sole together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Use arms to lift two the rubber-soled shoe with lace-up top, tips left, and set in the orange shoe-box.",
+    "Lift two the shoe with smooth top and grippy sole, position them in the smooth bright orange box, tips to the left.",
+    "Ensure two the synthetic leather shoe are in the rectangular shoe-box with orange lid, tips facing left.",
+    "Grab a pair of the rubber-soled shoe with lace-up top, tips left, put them into the medium-sized box with Nike swoosh.",
+    "Place two the rubber-soled shoe with lace-up top tips leftward into the the orange cardboard shoe-box.",
+    "Put two the average adult-sized shoe into the rectangular orange shoe-box, shoe tips left.",
+    "Retrieve two the rubber-soled shoe with lace-up top, orienting tips left, and place in the orange shoe-box.",
+    "Grab both the wearable foot protector shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Drop a pair of the synthetic leather shoe into the medium orange box with smooth surface, tips align left.",
+    "Place two the comfortable shoe for walking into the rectangular orange shoe-box, ensure shoe tips face left.",
+    "Make sure tips point left, then place the shoe made of rubber and leather in the orange cardboard shoe-box.",
+    "Set two the medium-sized black and white shoe in the medium-sized box with Nike swoosh with tips left.",
+    "Stick both the wearable foot protector shoe in the medium orange box with smooth surface, shoe tips pointing left.",
+    "With both arms, move two the shoe made of rubber and leather into the orange cardboard shoe-box, tips facing left.",
+    "Hold two the synthetic leather shoe, tips left, and place in the Nike-branded orange shoe-box.",
+    "Arrange the two the wearable foot protector shoe, tips left, inside the orange shoe-box.",
+    "Handle two the medium-sized black and white shoe, tips directed left, and drop them into the orange cardboard shoe-box.",
+    "Position two the shoe with curved sole into the medium orange box with smooth surface, shoe tips leftward.",
+    "Grab both the dual-tone shoe with sleek design and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Slide both the shoe with smooth top and grippy sole into the orange shoe-box with tips pointing left.",
+    "Collect two the average adult-sized shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Grab and place two the average adult-sized shoe in the smooth orange box for shoes, tips left.",
+    "Grab two the comfortable shoe for walking, tips left, place them carefully in the medium orange box with smooth surface.",
+    "Put two the shoe with curved sole in the medium orange box with smooth surface with tips facing left.",
+    "Pick up two the shoe with curved sole, tips left, and set them in the bright orange shoe-box.",
+    "Set two the average adult-sized shoe into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Place two the black shoe with white accents inside the medium-sized box with Nike swoosh, make tips face left.",
+    "Lift and put two the shoe with curved sole in the orange Nike shoe-box with logo, tips left.",
+    "Put two the shoe with smooth top and grippy sole, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Use both arms to set two the shoe made of rubber and leather in the rectangular orange shoe-box, tips left.",
+    "Move two the comfortable shoe for walking, tip ends left, and set them in the smooth bright orange box.",
+    "Grab two the black and white shoe, tip left, place them in the shoe-box with Nike printed logo.",
+    "Pick up two the black shoe with white accents, tips left, drop them into the medium orange box with smooth surface.",
+    "Transfer two the shoe with curved sole, tips left-aligned, into the medium-sized box with Nike swoosh.",
+    "Hold two the rubber-soled shoe with lace-up top, drop them in the orange cardboard shoe-box, tips pointing left.",
+    "Pick up two the synthetic leather shoe and set them in the smooth orange box for shoes, tips left.",
+    "Lift two the black and white shoe, ensure left tips, drop in the smooth bright orange box.",
+    "Move two the medium-sized black and white shoe into the smooth orange box for shoes, ensure tips point left.",
+    "Use both arms to place two the black and white shoe into the orange cardboard shoe-box, tips left.",
+    "Take two the rubber-soled shoe with lace-up top, ensure tips left, place in the rectangular orange shoe-box."
+  ],
+  "unseen": [
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black shoe with white midsole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the black shoe with white midsole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the black shoe with white midsole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with white midsole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab both the shoe with textured bottom, ensure tips left, place in the smooth orange box for shoes.",
+    "Pick up two the plastic brown shoe, tips left, and set them in the rectangular orange shoe-box.",
+    "Pick up two the brown shoe with strap loops, tips left, drop them into the orange Nike shoe-box with logo.",
+    "Lift two the shoe with textured bottom, position them in the shoe-box with Nike printed logo, tips to the left.",
+    "Move two the light brown shoe into the shoe-box with Nike printed logo, ensure tips point left.",
+    "Lift and put two the medium-sized brown shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Set two the light brown shoe with white sole in the orange Nike shoe-box with logo with tips left.",
+    "Use both arms to place two the small brown footwear replica into the Nike-branded orange shoe-box, tips left.",
+    "Put two the shoe with rounded and open form into the bright orange shoe-box, shoe tips left.",
+    "Grab two the plastic brown shoe, tips left, place them carefully in the rectangular orange shoe-box.",
+    "Put two the small brown footwear replica in the medium orange box with smooth surface with tips facing left.",
+    "Retrieve two the shoe with textured bottom, orienting tips left, and place in the medium orange box with smooth surface.",
+    "Set two the light brown shoe in the the Nike-branded orange shoe-box, tips pointing left.",
+    "Put two the light brown shoe with white sole, tips to the left, into the smooth bright orange box.",
+    "Make sure tips point left, then place the plastic brown shoe in the orange shoe-box.",
+    "Set two the shoe with red green white pattern into the the orange shoe-box, align tips to the left.",
+    "Stick both the small brown footwear replica in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Lift two the shoe with open straps, ensure left tips, drop in the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the light brown shoe with white sole, tips left, drop into the medium-sized box with Nike swoosh.",
+    "Collect two the light brown shoe, tips facing left, and put in the orange Nike shoe-box with logo.",
+    "Slide both the shoe with rounded and open form into the smooth orange box for shoes with tips pointing left.",
+    "Use both arms to set two the light brown shoe with white sole in the Nike-branded orange shoe-box, tips left.",
+    "Transfer two the shoe with textured bottom, tips left-aligned, into the shoe-box with Nike printed logo.",
+    "Drop a pair of the shoe with textured bottom into the smooth bright orange box, tips align left.",
+    "Grasp two the small brown footwear replica, tips aligned left, and place them in the medium-sized box with Nike swoosh.",
+    "Pick up two the shoe with red green white pattern together and place in the orange shoe-box, tips left.",
+    "Place two the small brown footwear replica into the shoe-box with Nike printed logo, ensure shoe tips face left.",
+    "Arrange the two the shoe with colorful stripes, tips left, inside the smooth orange box for shoes.",
+    "Place two the shoe with textured bottom in the smooth orange box for shoes, tip left when set.",
+    "Move a pair of the shoe with colorful stripes into the Nike-branded orange shoe-box, left tips first.",
+    "Grab and place two the light brown shoe in the orange shoe-box, tips left.",
+    "Grab two the shoe with open straps, tip left, place them in the bright orange shoe-box.",
+    "Pick two the light brown shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Move two the light brown shoe, tip ends left, and set them in the medium-sized box with Nike swoosh.",
+    "Position two the shoe with colorful stripes into the rectangular shoe-box with orange lid, shoe tips leftward.",
+    "Handle two the plastic brown shoe, tips directed left, and drop them into the medium orange box with smooth surface.",
+    "Ensure two the rounded shoe with visible straps are in the orange Nike shoe-box with logo, tips facing left.",
+    "Pick up two the shoe with open straps and set them in the orange cardboard shoe-box, tips left.",
+    "Place two the shoe with red green white pattern tips leftward into the the medium orange box with smooth surface.",
+    "Place two the shoe with rounded and open form inside the smooth bright orange box, make tips face left.",
+    "Take two the small brown footwear replica, ensure tips left, place in the bright orange shoe-box.",
+    "Hold two the shoe with textured bottom, tips left, and place in the smooth bright orange box.",
+    "With both arms, move two the shoe with textured bottom into the orange shoe-box, tips facing left.",
+    "Grab a pair of the shoe with open straps, tips left, put them into the orange Nike shoe-box with logo.",
+    "Lay down two the brown shoe with strap loops in the orange Nike shoe-box with logo, tips oriented left.",
+    "Grab both the plastic brown shoe and put them into the orange Nike shoe-box with logo, tips left.",
+    "Use arms to lift two the light brown shoe, tips left, and set in the orange cardboard shoe-box.",
+    "Hold two the shoe with red green white pattern, drop them in the medium-sized box with Nike swoosh, tips pointing left.",
+    "Grab both the medium-sized brown shoe, ensure tips left, place in the orange cardboard shoe-box.",
+    "Pick up two the shoe with red green white pattern, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Pick up two the shoe with open straps, tips left, drop them into the Nike-branded orange shoe-box.",
+    "Lift two the shoe with open straps, position them in the smooth orange box for shoes, tips to the left.",
+    "Move two the brown shoe with strap loops into the rectangular orange shoe-box, ensure tips point left.",
+    "Lift and put two the brown shoe with strap loops in the orange Nike shoe-box with logo, tips left.",
+    "Set two the small brown footwear replica in the bright orange shoe-box with tips left.",
+    "Use both arms to place two the light brown shoe with white sole into the orange shoe-box, tips left.",
+    "Put two the shoe with red green white pattern into the smooth orange box for shoes, shoe tips left.",
+    "Grab two the brown shoe with strap loops, tips left, place them carefully in the medium-sized box with Nike swoosh.",
+    "Put two the shoe with open straps in the rectangular orange shoe-box with tips facing left.",
+    "Retrieve two the shoe with open straps, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Set two the shoe with colorful stripes in the the orange cardboard shoe-box, tips pointing left.",
+    "Put two the shoe with textured bottom, tips to the left, into the medium orange box with smooth surface.",
+    "Make sure tips point left, then place the light brown shoe in the shoe-box with Nike printed logo.",
+    "Set two the shoe with colorful stripes into the the rectangular shoe-box with orange lid, align tips to the left.",
+    "Stick both the shoe with open straps in the smooth bright orange box, shoe tips pointing left.",
+    "Lift two the shoe with red green white pattern, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Use hands to grab two the shoe with colorful stripes, tips left, drop into the orange shoe-box.",
+    "Collect two the shoe with textured bottom, tips facing left, and put in the bright orange shoe-box.",
+    "Slide both the plastic brown shoe into the bright orange shoe-box with tips pointing left.",
+    "Use both arms to set two the shoe with open straps in the orange shoe-box, tips left.",
+    "Transfer two the light brown shoe with white sole, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Drop a pair of the shoe with rounded and open form into the medium-sized box with Nike swoosh, tips align left.",
+    "Grasp two the shoe with colorful stripes, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Pick up two the plastic brown shoe together and place in the smooth bright orange box, tips left.",
+    "Place two the shoe with red green white pattern into the bright orange shoe-box, ensure shoe tips face left.",
+    "Arrange the two the shoe with rounded and open form, tips left, inside the orange cardboard shoe-box.",
+    "Place two the brown shoe with strap loops in the orange Nike shoe-box with logo, tip left when set.",
+    "Move a pair of the shoe with open straps into the bright orange shoe-box, left tips first.",
+    "Grab and place two the rounded shoe with visible straps in the rectangular shoe-box with orange lid, tips left.",
+    "Grab two the shoe with open straps, tip left, place them in the orange cardboard shoe-box.",
+    "Pick two the plastic brown shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Move two the light brown shoe, tip ends left, and set them in the rectangular shoe-box with orange lid.",
+    "Position two the brown shoe with strap loops into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Handle two the shoe with open straps, tips directed left, and drop them into the smooth bright orange box.",
+    "Ensure two the light brown shoe with white sole are in the orange cardboard shoe-box, tips facing left.",
+    "Pick up two the small brown footwear replica and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Place two the brown shoe with strap loops tips leftward into the the smooth bright orange box.",
+    "Place two the light brown shoe inside the rectangular shoe-box with orange lid, make tips face left.",
+    "Take two the rounded shoe with visible straps, ensure tips left, place in the medium orange box with smooth surface.",
+    "Hold two the medium-sized brown shoe, tips left, and place in the orange Nike shoe-box with logo.",
+    "With both arms, move two the plastic brown shoe into the rectangular orange shoe-box, tips facing left.",
+    "Grab a pair of the brown shoe with strap loops, tips left, put them into the Nike-branded orange shoe-box.",
+    "Lay down two the small brown footwear replica in the orange Nike shoe-box with logo, tips oriented left.",
+    "Grab both the shoe with rounded and open form and put them into the rectangular shoe-box with orange lid, tips left.",
+    "Use arms to lift two the shoe with open straps, tips left, and set in the smooth orange box for shoes.",
+    "Hold two the plastic brown shoe, drop them in the orange Nike shoe-box with logo, tips pointing left.",
+    "Grab both the light brown shoe with white sole, ensure tips left, place in the smooth bright orange box.",
+    "Pick up two the shoe with red green white pattern, tips left, and set them in the bright orange shoe-box.",
+    "Pick up two the plastic brown shoe, tips left, drop them into the orange shoe-box.",
+    "Lift two the shoe with open straps, position them in the orange Nike shoe-box with logo, tips to the left."
+  ],
+  "unseen": [
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe model with ribbed sole to the orange box for keeping shoes, tips pointing left.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the smooth plastic shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the smooth plastic shoe and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the smooth plastic shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the brown shoe with green red stripes to the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe model with ribbed sole into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the orange box for keeping shoes.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the brown shoe with green red stripes into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the brown shoe with green red stripes and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe model with ribbed sole to the orange box for keeping shoes, tips pointing left.",
+    "Place two the brown shoe with green red stripes into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the smooth plastic shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the orange box for keeping shoes.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe model with ribbed sole to the orange box for keeping shoes, tips pointing left.",
+    "Place two the brown shoe with green red stripes into the orange box for keeping shoes, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the brown shoe with green red stripes, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the shoe model with ribbed sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the smooth plastic shoe, tips left, into the orange box for keeping shoes.",
+    "Grab a pair of the brown shoe with green red stripes, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the smooth plastic shoe to the orange box for keeping shoes, tips pointing left.",
+    "Place two the smooth plastic shoe into the medium cardboard shoe-box, tips left.",
+    "Put a pair of the smooth plastic shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the smooth plastic shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the brown shoe with green red stripes and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the brown shoe with green red stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the brown shoe with green red stripes into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the brown shoe with green red stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the smooth plastic shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the orange box for keeping shoes.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the smooth plastic shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the smooth plastic shoe into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the smooth plastic shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the shoe model with ribbed sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the brown shoe with green red stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe model with ribbed sole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the brown shoe with green red stripes to the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe model with ribbed sole into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the smooth plastic shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe model with ribbed sole, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the rectangular Nike box for shoes.",
+    "Pick up two the brown shoe with green red stripes, tips left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the smooth plastic shoe, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the smooth plastic shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe model with ribbed sole into the rectangular Nike box for shoes, tips left.",
+    "Put a pair of the shoe model with ribbed sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the smooth plastic shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the brown shoe with green red stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the smooth plastic shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the smooth plastic shoe, tips left, into the medium cardboard shoe-box.",
+    "Pick up two the shoe model with ribbed sole, tips left, into the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set two the black and white shoe in the the bright orange shoe-box, tips pointing left.",
+    "Grab and place two the black and white shoe in the Nike-branded orange shoe-box, tips left.",
+    "Drop a pair of the shoe with smooth top and grippy sole into the rectangular orange shoe-box, tips align left.",
+    "Put two the black and white shoe in the orange shoe-box with tips facing left.",
+    "Grab two the synthetic leather shoe, tip left, place them in the rectangular orange shoe-box.",
+    "Use arms to lift two the shoe with smooth top and grippy sole, tips left, and set in the rectangular orange shoe-box.",
+    "Pick up two the shoe made of rubber and leather, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Pick up two the comfortable shoe for walking together and place in the bright orange shoe-box, tips left.",
+    "Put two the black shoe with white accents, tips to the left, into the bright orange shoe-box.",
+    "Take two the wearable foot protector shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Hold two the shoe with curved sole, tips left, and place in the smooth bright orange box.",
+    "Stick both the medium-sized black and white shoe in the orange shoe-box, shoe tips pointing left.",
+    "Move two the black and white shoe, tip ends left, and set them in the medium orange box with smooth surface.",
+    "Use both arms to set two the synthetic leather shoe in the smooth bright orange box, tips left.",
+    "Grasp two the dual-tone shoe with sleek design, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Make sure tips point left, then place the black shoe with white accents in the smooth orange box for shoes.",
+    "Hold two the comfortable shoe for walking, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Place two the medium-sized black and white shoe in the rectangular orange shoe-box, tip left when set.",
+    "Grab two the medium-sized black and white shoe, tips left, place them carefully in the orange shoe-box.",
+    "Grab both the comfortable shoe for walking and put them into the medium orange box with smooth surface, tips left.",
+    "Move a pair of the dual-tone shoe with sleek design into the shoe-box with Nike printed logo, left tips first.",
+    "Lift two the shoe with curved sole, ensure left tips, drop in the orange shoe-box.",
+    "Pick up two the average adult-sized shoe, tips left, and set them in the rectangular shoe-box with orange lid.",
+    "Set two the average adult-sized shoe into the the Nike-branded orange shoe-box, align tips to the left.",
+    "Arrange the two the shoe with curved sole, tips left, inside the orange Nike shoe-box with logo.",
+    "Lift and put two the shoe made of rubber and leather in the orange shoe-box, tips left.",
+    "Place two the shoe with curved sole into the smooth orange box for shoes, ensure shoe tips face left.",
+    "Grab both the shoe with curved sole, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Pick up two the black shoe with white accents and set them in the rectangular orange shoe-box, tips left.",
+    "Use both arms to place two the rubber-soled shoe with lace-up top into the Nike-branded orange shoe-box, tips left.",
+    "Place two the synthetic leather shoe tips leftward into the the rectangular orange shoe-box.",
+    "Pick two the wearable foot protector shoe, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Move two the dual-tone shoe with sleek design into the rectangular shoe-box with orange lid, ensure tips point left.",
+    "Slide both the wearable foot protector shoe into the shoe-box with Nike printed logo with tips pointing left.",
+    "Transfer two the wearable foot protector shoe, tips left-aligned, into the shoe-box with Nike printed logo.",
+    "Handle two the black and white shoe, tips directed left, and drop them into the smooth bright orange box.",
+    "Put two the average adult-sized shoe into the medium-sized box with Nike swoosh, shoe tips left.",
+    "Collect two the medium-sized black and white shoe, tips facing left, and put in the orange cardboard shoe-box.",
+    "Ensure two the black and white shoe are in the bright orange shoe-box, tips facing left.",
+    "Place two the black shoe with white accents inside the medium orange box with smooth surface, make tips face left.",
+    "Grab a pair of the black shoe with white accents, tips left, put them into the medium orange box with smooth surface.",
+    "Use hands to grab two the synthetic leather shoe, tips left, drop into the smooth orange box for shoes.",
+    "With both arms, move two the shoe with smooth top and grippy sole into the smooth bright orange box, tips facing left.",
+    "Set two the synthetic leather shoe in the smooth orange box for shoes with tips left.",
+    "Lay down two the synthetic leather shoe in the smooth bright orange box, tips oriented left.",
+    "Lift two the black shoe with white accents, position them in the medium orange box with smooth surface, tips to the left.",
+    "Position two the comfortable shoe for walking into the medium orange box with smooth surface, shoe tips leftward.",
+    "Retrieve two the dual-tone shoe with sleek design, orienting tips left, and place in the orange Nike shoe-box with logo.",
+    "Set two the shoe with curved sole in the the medium orange box with smooth surface, tips pointing left.",
+    "Grab and place two the shoe made of rubber and leather in the smooth orange box for shoes, tips left.",
+    "Drop a pair of the shoe with curved sole into the Nike-branded orange shoe-box, tips align left.",
+    "Put two the comfortable shoe for walking in the orange Nike shoe-box with logo with tips facing left.",
+    "Grab two the average adult-sized shoe, tip left, place them in the medium-sized box with Nike swoosh.",
+    "Use arms to lift two the medium-sized black and white shoe, tips left, and set in the orange Nike shoe-box with logo.",
+    "Pick up two the comfortable shoe for walking, tips left, drop them into the orange shoe-box.",
+    "Pick up two the shoe made of rubber and leather together and place in the orange shoe-box, tips left.",
+    "Put two the rubber-soled shoe with lace-up top, tips to the left, into the shoe-box with Nike printed logo.",
+    "Take two the comfortable shoe for walking, ensure tips left, place in the smooth orange box for shoes.",
+    "Hold two the dual-tone shoe with sleek design, tips left, and place in the medium-sized box with Nike swoosh.",
+    "Stick both the rubber-soled shoe with lace-up top in the shoe-box with Nike printed logo, shoe tips pointing left.",
+    "Move two the average adult-sized shoe, tip ends left, and set them in the orange shoe-box.",
+    "Use both arms to set two the shoe with curved sole in the orange Nike shoe-box with logo, tips left.",
+    "Grasp two the comfortable shoe for walking, tips aligned left, and place them in the smooth orange box for shoes.",
+    "Make sure tips point left, then place the medium-sized black and white shoe in the orange cardboard shoe-box.",
+    "Hold two the synthetic leather shoe, drop them in the bright orange shoe-box, tips pointing left.",
+    "Place two the shoe made of rubber and leather in the medium-sized box with Nike swoosh, tip left when set.",
+    "Grab two the medium-sized black and white shoe, tips left, place them carefully in the orange shoe-box.",
+    "Grab both the synthetic leather shoe and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Move a pair of the shoe made of rubber and leather into the medium-sized box with Nike swoosh, left tips first.",
+    "Lift two the average adult-sized shoe, ensure left tips, drop in the rectangular shoe-box with orange lid.",
+    "Pick up two the shoe with curved sole, tips left, and set them in the smooth bright orange box.",
+    "Set two the rubber-soled shoe with lace-up top into the the medium orange box with smooth surface, align tips to the left.",
+    "Arrange the two the black and white shoe, tips left, inside the shoe-box with Nike printed logo.",
+    "Lift and put two the comfortable shoe for walking in the smooth orange box for shoes, tips left.",
+    "Place two the black shoe with white accents into the bright orange shoe-box, ensure shoe tips face left.",
+    "Grab both the wearable foot protector shoe, ensure tips left, place in the smooth orange box for shoes.",
+    "Pick up two the rubber-soled shoe with lace-up top and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Use both arms to place two the shoe with smooth top and grippy sole into the Nike-branded orange shoe-box, tips left.",
+    "Place two the average adult-sized shoe tips leftward into the the medium orange box with smooth surface.",
+    "Pick two the shoe with smooth top and grippy sole, ensure tips facing left, and position in the bright orange shoe-box.",
+    "Move two the dual-tone shoe with sleek design into the medium-sized box with Nike swoosh, ensure tips point left.",
+    "Slide both the black and white shoe into the smooth bright orange box with tips pointing left.",
+    "Transfer two the black and white shoe, tips left-aligned, into the orange shoe-box.",
+    "Handle two the dual-tone shoe with sleek design, tips directed left, and drop them into the medium-sized box with Nike swoosh.",
+    "Put two the synthetic leather shoe into the Nike-branded orange shoe-box, shoe tips left.",
+    "Collect two the rubber-soled shoe with lace-up top, tips facing left, and put in the smooth bright orange box.",
+    "Ensure two the dual-tone shoe with sleek design are in the rectangular orange shoe-box, tips facing left.",
+    "Place two the wearable foot protector shoe inside the smooth bright orange box, make tips face left.",
+    "Grab a pair of the rubber-soled shoe with lace-up top, tips left, put them into the bright orange shoe-box.",
+    "Use hands to grab two the rubber-soled shoe with lace-up top, tips left, drop into the smooth bright orange box.",
+    "With both arms, move two the dual-tone shoe with sleek design into the shoe-box with Nike printed logo, tips facing left.",
+    "Set two the shoe with smooth top and grippy sole in the rectangular orange shoe-box with tips left.",
+    "Lay down two the shoe with smooth top and grippy sole in the shoe-box with Nike printed logo, tips oriented left.",
+    "Lift two the shoe with curved sole, position them in the medium orange box with smooth surface, tips to the left.",
+    "Position two the medium-sized black and white shoe into the orange shoe-box, shoe tips leftward.",
+    "Retrieve two the dual-tone shoe with sleek design, orienting tips left, and place in the orange Nike shoe-box with logo.",
+    "Set two the average adult-sized shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Grab and place two the average adult-sized shoe in the smooth bright orange box, tips left.",
+    "Drop a pair of the average adult-sized shoe into the Nike-branded orange shoe-box, tips align left.",
+    "Put two the shoe with curved sole in the rectangular orange shoe-box with tips facing left."
+  ],
+  "unseen": [
+    "Grab a pair of the black shoe with curved white sole, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Place two the black shoe with curved white sole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black shoe with curved white sole in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the black shoe with curved white sole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the rectangular Nike box for shoes.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the black shoe with curved white sole into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the shoe with padded collar and tongue, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Place two the black shoe with white midsole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with white midsole to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the black shoe with white midsole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with padded collar and tongue into the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the medium cardboard shoe-box.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the medium cardboard shoe-box.",
+    "Place two the black shoe with curved white sole into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the orange box for keeping shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with padded collar and tongue into the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the black shoe with white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the shoe with padded collar and tongue, place left tips in the medium cardboard shoe-box.",
+    "Use both arms to move two the shoe with padded collar and tongue to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Pick up two the black shoe with curved white sole, tips left, into the medium cardboard shoe-box.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with curved white sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the black shoe with white midsole, place left tips in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide both the smooth white shoe into the Nike-branded orange shoe-box with tips pointing left.",
+    "Stick both the shoe with patterned bottom in the rectangular shoe-box with orange lid, shoe tips pointing left.",
+    "Put two the shoe with curved sole, tips to the left, into the orange shoe-box.",
+    "Place two the shoe with textured sole into the smooth bright orange box, ensure shoe tips face left.",
+    "Drop a pair of the medium white shoe into the bright orange shoe-box, tips align left.",
+    "Use both arms to set two the synthetic leather shoe in the orange cardboard shoe-box, tips left.",
+    "Pick up two the shoe with curved sole together and place in the bright orange shoe-box, tips left.",
+    "Grab two the medium white shoe, tip left, place them in the rectangular orange shoe-box.",
+    "Grab and place two the medium white shoe in the rectangular orange shoe-box, tips left.",
+    "Collect two the shoe with lace holes, tips facing left, and put in the medium orange box with smooth surface.",
+    "Pick up two the shoe with lace holes and set them in the orange cardboard shoe-box, tips left.",
+    "Ensure two the shoe with lace holes are in the medium orange box with smooth surface, tips facing left.",
+    "With both arms, move two the white sneaker shoe into the orange cardboard shoe-box, tips facing left.",
+    "Position two the medium white shoe into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Pick two the shoe with patterned bottom, ensure tips facing left, and position in the medium-sized box with Nike swoosh.",
+    "Grab a pair of the shoe for walking, tips left, put them into the orange Nike shoe-box with logo.",
+    "Put two the medium white shoe into the Nike-branded orange shoe-box, shoe tips left.",
+    "Set two the shoe with textured sole in the the smooth orange box for shoes, tips pointing left.",
+    "Lay down two the shoe with patterned bottom in the medium-sized box with Nike swoosh, tips oriented left.",
+    "Retrieve two the shoe with textured sole, orienting tips left, and place in the orange cardboard shoe-box.",
+    "Take two the white shoe with rubber sole, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Hold two the medium white shoe, tips left, and place in the bright orange shoe-box.",
+    "Use both arms to place two the shoe with curved sole into the smooth bright orange box, tips left.",
+    "Grasp two the shoe with curved sole, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Place two the shoe with patterned bottom inside the orange shoe-box, make tips face left.",
+    "Set two the white shoe with rubber sole in the smooth bright orange box with tips left.",
+    "Grab two the medium-sized rounded white shoe, tips left, place them carefully in the orange Nike shoe-box with logo.",
+    "Move two the shoe for walking, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Make sure tips point left, then place the white sneaker shoe in the rectangular shoe-box with orange lid.",
+    "Put two the synthetic leather shoe in the orange cardboard shoe-box with tips facing left.",
+    "Hold two the shoe with textured sole, drop them in the rectangular shoe-box with orange lid, tips pointing left.",
+    "Lift and put two the smooth white shoe in the medium-sized box with Nike swoosh, tips left.",
+    "Lift two the shoe with textured sole, ensure left tips, drop in the orange shoe-box.",
+    "Pick up two the synthetic leather shoe, tips left, drop them into the Nike-branded orange shoe-box.",
+    "Grab both the synthetic leather shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Arrange the two the shoe with textured sole, tips left, inside the smooth bright orange box.",
+    "Grab both the white shoe with rubber sole and put them into the Nike-branded orange shoe-box, tips left.",
+    "Use hands to grab two the medium-sized rounded white shoe, tips left, drop into the smooth orange box for shoes.",
+    "Handle two the shoe with textured sole, tips directed left, and drop them into the rectangular shoe-box with orange lid.",
+    "Lift two the medium-sized rounded white shoe, position them in the rectangular orange shoe-box, tips to the left.",
+    "Use arms to lift two the shoe with lace holes, tips left, and set in the shoe-box with Nike printed logo.",
+    "Set two the medium-sized rounded white shoe into the the bright orange shoe-box, align tips to the left.",
+    "Move two the shoe with patterned bottom into the smooth bright orange box, ensure tips point left.",
+    "Move a pair of the shoe with lace holes into the orange shoe-box, left tips first.",
+    "Place two the white sneaker shoe in the Nike-branded orange shoe-box, tip left when set.",
+    "Place two the smooth white shoe tips leftward into the the rectangular shoe-box with orange lid.",
+    "Pick up two the smooth white shoe, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Transfer two the rubber sole shoe, tips left-aligned, into the orange cardboard shoe-box.",
+    "Slide both the white sneaker shoe into the rectangular orange shoe-box with tips pointing left.",
+    "Stick both the white shoe with rubber sole in the Nike-branded orange shoe-box, shoe tips pointing left.",
+    "Put two the rubber sole shoe, tips to the left, into the orange shoe-box.",
+    "Place two the shoe with lace holes into the orange cardboard shoe-box, ensure shoe tips face left.",
+    "Drop a pair of the synthetic leather shoe into the orange cardboard shoe-box, tips align left.",
+    "Use both arms to set two the rubber sole shoe in the orange Nike shoe-box with logo, tips left.",
+    "Pick up two the shoe with curved sole together and place in the medium orange box with smooth surface, tips left.",
+    "Grab two the medium white shoe, tip left, place them in the orange Nike shoe-box with logo.",
+    "Grab and place two the synthetic leather shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Collect two the medium-sized rounded white shoe, tips facing left, and put in the smooth bright orange box.",
+    "Pick up two the smooth white shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Ensure two the medium white shoe are in the rectangular shoe-box with orange lid, tips facing left.",
+    "With both arms, move two the shoe with patterned bottom into the medium orange box with smooth surface, tips facing left.",
+    "Position two the shoe with patterned bottom into the orange shoe-box, shoe tips leftward.",
+    "Pick two the medium-sized rounded white shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Grab a pair of the shoe with patterned bottom, tips left, put them into the orange Nike shoe-box with logo.",
+    "Put two the white sneaker shoe into the orange shoe-box, shoe tips left.",
+    "Set two the synthetic leather shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Lay down two the shoe for walking in the smooth orange box for shoes, tips oriented left.",
+    "Retrieve two the shoe with patterned bottom, orienting tips left, and place in the medium-sized box with Nike swoosh.",
+    "Take two the shoe with patterned bottom, ensure tips left, place in the medium-sized box with Nike swoosh.",
+    "Hold two the smooth white shoe, tips left, and place in the orange cardboard shoe-box.",
+    "Use both arms to place two the shoe with patterned bottom into the shoe-box with Nike printed logo, tips left.",
+    "Grasp two the shoe with curved sole, tips aligned left, and place them in the orange Nike shoe-box with logo.",
+    "Place two the medium white shoe inside the rectangular orange shoe-box, make tips face left.",
+    "Set two the white shoe with rubber sole in the orange Nike shoe-box with logo with tips left.",
+    "Grab two the shoe with curved sole, tips left, place them carefully in the bright orange shoe-box.",
+    "Move two the medium white shoe, tip ends left, and set them in the rectangular orange shoe-box.",
+    "Make sure tips point left, then place the rubber sole shoe in the orange Nike shoe-box with logo.",
+    "Put two the white shoe with rubber sole in the bright orange shoe-box with tips facing left.",
+    "Hold two the shoe with patterned bottom, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Lift and put two the shoe with curved sole in the smooth bright orange box, tips left.",
+    "Lift two the shoe with textured sole, ensure left tips, drop in the smooth bright orange box.",
+    "Pick up two the shoe with curved sole, tips left, drop them into the rectangular shoe-box with orange lid.",
+    "Grab both the shoe for walking, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Arrange the two the synthetic leather shoe, tips left, inside the rectangular shoe-box with orange lid.",
+    "Grab both the synthetic leather shoe and put them into the medium orange box with smooth surface, tips left.",
+    "Use hands to grab two the shoe with textured sole, tips left, drop into the rectangular orange shoe-box.",
+    "Handle two the shoe with patterned bottom, tips directed left, and drop them into the orange shoe-box.",
+    "Lift two the shoe with lace holes, position them in the rectangular orange shoe-box, tips to the left.",
+    "Use arms to lift two the synthetic leather shoe, tips left, and set in the medium orange box with smooth surface.",
+    "Set two the medium white shoe into the the bright orange shoe-box, align tips to the left.",
+    "Move two the shoe with lace holes into the orange shoe-box, ensure tips point left.",
+    "Move a pair of the medium-sized rounded white shoe into the orange Nike shoe-box with logo, left tips first.",
+    "Place two the rubber sole shoe in the rectangular orange shoe-box, tip left when set.",
+    "Place two the white shoe with rubber sole tips leftward into the the orange cardboard shoe-box.",
+    "Pick up two the medium white shoe, tips left, and set them in the medium orange box with smooth surface.",
+    "Transfer two the medium white shoe, tips left-aligned, into the bright orange shoe-box.",
+    "Slide both the white shoe with rubber sole into the shoe-box with Nike printed logo with tips pointing left.",
+    "Stick both the shoe with lace holes in the medium-sized box with Nike swoosh, shoe tips pointing left.",
+    "Put two the shoe with patterned bottom, tips to the left, into the bright orange shoe-box.",
+    "Place two the shoe for walking into the orange Nike shoe-box with logo, ensure shoe tips face left."
+  ],
+  "unseen": [
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the rounded white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the white shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the white shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the medium adult shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the white shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the orange box for keeping shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the rounded white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the rounded white shoe into the orange box for keeping shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Lift two the medium adult shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the rounded white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the medium adult shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the white shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the medium adult shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the white shoe, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab a pair of the white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the medium adult shoe and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the rounded white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the medium adult shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the medium adult shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the medium cardboard shoe-box.",
+    "Place two the white shoe into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the rounded white shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the white shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the white shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the medium adult shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the rounded white shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the medium adult shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the medium adult shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the medium adult shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the medium adult shoe to the orange box for keeping shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Place two the medium adult shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the rounded white shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Lift two the white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the medium adult shoe, place left tips in the medium cardboard shoe-box.",
+    "Grab two the medium adult shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the white shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Pick up two the white shoe, tips left, into the orange box for keeping shoes.",
+    "Place two the rounded white shoe into the medium cardboard shoe-box, tips left.",
+    "Pick up two the rounded white shoe, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the medium adult shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the rounded white shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab a pair of the rounded white shoe, place left tips in the rectangular Nike box for shoes.",
+    "Grab two the rounded white shoe, point tips left, place in the orange box for keeping shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab two the lace-up red sports shoe, tips left, place them carefully in the rectangular shoe-box with orange lid.",
+    "Grab both the red sneaker and put them into the Nike-branded orange shoe-box, tips left.",
+    "Lift two the white bottom sports shoe, position them in the rectangular orange shoe-box, tips to the left.",
+    "Grab two the shoe with flat rubber sole, tip left, place them in the Nike-branded orange shoe-box.",
+    "Lift two the smooth-textured red shoe, ensure left tips, drop in the smooth orange box for shoes.",
+    "Collect two the shoe with flat rubber sole, tips facing left, and put in the orange shoe-box.",
+    "Pick up two the white bottom sports shoe together and place in the orange shoe-box, tips left.",
+    "Grab both the smooth-textured red shoe, ensure tips left, place in the Nike-branded orange shoe-box.",
+    "Make sure tips point left, then place the medium red shoe in the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the red sneaker, tips left, drop into the rectangular orange shoe-box.",
+    "Use both arms to set two the smooth-textured red shoe in the bright orange shoe-box, tips left.",
+    "Move a pair of the red sneaker into the orange cardboard shoe-box, left tips first.",
+    "Place two the white bottom sports shoe into the medium-sized box with Nike swoosh, ensure shoe tips face left.",
+    "Place two the grooved sole red shoe tips leftward into the the medium orange box with smooth surface.",
+    "Retrieve two the red shoe with white sole, orienting tips left, and place in the smooth orange box for shoes.",
+    "Slide both the lace-up red sports shoe into the smooth bright orange box with tips pointing left.",
+    "Grab a pair of the medium red shoe, tips left, put them into the bright orange shoe-box.",
+    "Pick two the grooved sole red shoe, ensure tips facing left, and position in the rectangular orange shoe-box.",
+    "Move two the red sneaker into the orange cardboard shoe-box, ensure tips point left.",
+    "Grasp two the lace-up red sports shoe, tips aligned left, and place them in the orange shoe-box.",
+    "Place two the grooved sole red shoe inside the medium orange box with smooth surface, make tips face left.",
+    "Grab and place two the red shoe with white sole in the smooth orange box for shoes, tips left.",
+    "Drop a pair of the smooth-textured red shoe into the medium-sized box with Nike swoosh, tips align left.",
+    "Place two the single red shoe in the orange cardboard shoe-box, tip left when set.",
+    "With both arms, move two the grooved sole red shoe into the smooth bright orange box, tips facing left.",
+    "Take two the grooved sole red shoe, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Set two the medium red shoe in the shoe-box with Nike printed logo with tips left.",
+    "Put two the grooved sole red shoe in the medium orange box with smooth surface with tips facing left.",
+    "Set two the red sneaker into the the orange Nike shoe-box with logo, align tips to the left.",
+    "Arrange the two the red shoe rounded at front, tips left, inside the orange cardboard shoe-box.",
+    "Transfer two the shoe with flat rubber sole, tips left-aligned, into the rectangular shoe-box with orange lid.",
+    "Use both arms to place two the white bottom sports shoe into the Nike-branded orange shoe-box, tips left.",
+    "Put two the shoe with flat rubber sole, tips to the left, into the smooth orange box for shoes.",
+    "Hold two the single red shoe, drop them in the Nike-branded orange shoe-box, tips pointing left.",
+    "Handle two the white bottom sports shoe, tips directed left, and drop them into the medium orange box with smooth surface.",
+    "Pick up two the white bottom sports shoe and set them in the smooth bright orange box, tips left.",
+    "Lift and put two the red shoe with white sole in the rectangular shoe-box with orange lid, tips left.",
+    "Pick up two the white bottom sports shoe, tips left, and set them in the orange Nike shoe-box with logo.",
+    "Position two the red sneaker into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Set two the smooth-textured red shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Move two the grooved sole red shoe, tip ends left, and set them in the smooth orange box for shoes.",
+    "Put two the shoe with flat rubber sole into the orange Nike shoe-box with logo, shoe tips left.",
+    "Lay down two the grooved sole red shoe in the smooth bright orange box, tips oriented left.",
+    "Pick up two the white bottom sports shoe, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Stick both the white bottom sports shoe in the orange cardboard shoe-box, shoe tips pointing left.",
+    "Hold two the shoe with flat rubber sole, tips left, and place in the rectangular shoe-box with orange lid.",
+    "Ensure two the red shoe with white sole are in the orange Nike shoe-box with logo, tips facing left.",
+    "Use arms to lift two the footwear with red top white sole, tips left, and set in the shoe-box with Nike printed logo.",
+    "Grab two the red sneaker, tips left, place them carefully in the shoe-box with Nike printed logo.",
+    "Grab both the footwear with red top white sole and put them into the medium-sized box with Nike swoosh, tips left.",
+    "Lift two the lace-up red sports shoe, position them in the Nike-branded orange shoe-box, tips to the left.",
+    "Grab two the red shoe rounded at front, tip left, place them in the medium orange box with smooth surface.",
+    "Lift two the footwear with red top white sole, ensure left tips, drop in the Nike-branded orange shoe-box.",
+    "Collect two the footwear with red top white sole, tips facing left, and put in the medium orange box with smooth surface.",
+    "Pick up two the footwear with red top white sole together and place in the orange shoe-box, tips left.",
+    "Grab both the grooved sole red shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Make sure tips point left, then place the smooth-textured red shoe in the rectangular orange shoe-box.",
+    "Use hands to grab two the footwear with red top white sole, tips left, drop into the orange cardboard shoe-box.",
+    "Use both arms to set two the footwear with red top white sole in the medium-sized box with Nike swoosh, tips left.",
+    "Move a pair of the white bottom sports shoe into the smooth orange box for shoes, left tips first.",
+    "Place two the single red shoe into the medium orange box with smooth surface, ensure shoe tips face left.",
+    "Place two the smooth-textured red shoe tips leftward into the the medium-sized box with Nike swoosh.",
+    "Retrieve two the smooth-textured red shoe, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Slide both the sports shoe into the orange Nike shoe-box with logo with tips pointing left.",
+    "Grab a pair of the white bottom sports shoe, tips left, put them into the medium-sized box with Nike swoosh.",
+    "Pick two the red sneaker, ensure tips facing left, and position in the smooth orange box for shoes.",
+    "Move two the smooth-textured red shoe into the orange cardboard shoe-box, ensure tips point left.",
+    "Grasp two the shoe with flat rubber sole, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Place two the shoe with flat rubber sole inside the orange cardboard shoe-box, make tips face left.",
+    "Grab and place two the red sneaker in the rectangular shoe-box with orange lid, tips left.",
+    "Drop a pair of the red sneaker into the Nike-branded orange shoe-box, tips align left.",
+    "Place two the red shoe with white sole in the rectangular shoe-box with orange lid, tip left when set.",
+    "With both arms, move two the footwear with red top white sole into the medium orange box with smooth surface, tips facing left.",
+    "Take two the red shoe rounded at front, ensure tips left, place in the orange Nike shoe-box with logo.",
+    "Set two the sports shoe in the medium orange box with smooth surface with tips left.",
+    "Put two the smooth-textured red shoe in the orange Nike shoe-box with logo with tips facing left.",
+    "Set two the red shoe rounded at front into the the orange cardboard shoe-box, align tips to the left.",
+    "Arrange the two the red shoe with white sole, tips left, inside the orange cardboard shoe-box.",
+    "Transfer two the red sneaker, tips left-aligned, into the smooth bright orange box.",
+    "Use both arms to place two the red sneaker into the Nike-branded orange shoe-box, tips left.",
+    "Put two the grooved sole red shoe, tips to the left, into the Nike-branded orange shoe-box.",
+    "Hold two the shoe with flat rubber sole, drop them in the shoe-box with Nike printed logo, tips pointing left.",
+    "Handle two the red sneaker, tips directed left, and drop them into the orange Nike shoe-box with logo.",
+    "Pick up two the sports shoe and set them in the rectangular shoe-box with orange lid, tips left.",
+    "Lift and put two the red shoe rounded at front in the rectangular shoe-box with orange lid, tips left.",
+    "Pick up two the lace-up red sports shoe, tips left, and set them in the rectangular shoe-box with orange lid.",
+    "Position two the red shoe rounded at front into the Nike-branded orange shoe-box, shoe tips leftward.",
+    "Set two the single red shoe in the the shoe-box with Nike printed logo, tips pointing left.",
+    "Move two the smooth-textured red shoe, tip ends left, and set them in the bright orange shoe-box.",
+    "Put two the white bottom sports shoe into the smooth orange box for shoes, shoe tips left.",
+    "Lay down two the smooth-textured red shoe in the bright orange shoe-box, tips oriented left.",
+    "Pick up two the medium red shoe, tips left, drop them into the Nike-branded orange shoe-box.",
+    "Stick both the grooved sole red shoe in the orange shoe-box, shoe tips pointing left.",
+    "Hold two the single red shoe, tips left, and place in the bright orange shoe-box.",
+    "Ensure two the sports shoe are in the bright orange shoe-box, tips facing left.",
+    "Use arms to lift two the lace-up red sports shoe, tips left, and set in the shoe-box with Nike printed logo.",
+    "Grab two the red shoe with white sole, tips left, place them carefully in the smooth orange box for shoes.",
+    "Grab both the sports shoe and put them into the orange shoe-box, tips left.",
+    "Lift two the red shoe with white sole, position them in the medium-sized box with Nike swoosh, tips to the left.",
+    "Grab two the shoe with flat rubber sole, tip left, place them in the bright orange shoe-box."
+  ],
+  "unseen": [
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the red shoe in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red shoe, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red shoe into the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red shoe and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the red shoe, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the synthetic shoe upper in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the rectangular Nike box for shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the synthetic shoe upper to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the synthetic shoe upper into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the red shoe, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the medium cardboard shoe-box, tips left.",
+    "Grab a pair of the red sneaker medium sized, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the red shoe in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the red shoe, tips left, into the rectangular Nike box for shoes.",
+    "Use both arms to move two the red sneaker medium sized to the orange box for keeping shoes, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the rectangular Nike box for shoes.",
+    "Put a pair of the red sneaker medium sized in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the synthetic shoe upper into the orange box for keeping shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the red shoe in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the red shoe into the rectangular Nike box for shoes, tips left.",
+    "Grab two the synthetic shoe upper, point tips left, place in the orange box for keeping shoes.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red sneaker medium sized to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the synthetic shoe upper and set them in the orange box for keeping shoes, tips left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the orange box for keeping shoes.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Put a pair of the synthetic shoe upper in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red sneaker medium sized into the rectangular Nike box for shoes, tips left.",
+    "Grab two the red sneaker medium sized, point tips left, place in the medium cardboard shoe-box.",
+    "Lift two the red sneaker medium sized, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the synthetic shoe upper, tips left, into the orange box for keeping shoes.",
+    "Use both arms to move two the red shoe to the medium cardboard shoe-box, tips pointing left.",
+    "Grab two the red shoe and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the synthetic shoe upper, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the red shoe, tips left, into the medium cardboard shoe-box.",
+    "Put a pair of the red sneaker medium sized in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the red sneaker medium sized into the medium cardboard shoe-box, tips left.",
+    "Grab two the red shoe, point tips left, place in the rectangular Nike box for shoes.",
+    "Lift two the red shoe, tips pointing left, into the medium cardboard shoe-box.",
+    "Pick up two the red sneaker medium sized, tips left, into the medium cardboard shoe-box.",
+    "Use both arms to move two the red shoe to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab two the red sneaker medium sized and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab a pair of the red shoe, place left tips in the rectangular Nike box for shoes."
+  ]
+}

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With both arms, move two the lace-up shoe into the orange cardboard shoe-box, tips facing left.",
+    "Collect two the black-striped athletic shoe, tips facing left, and put in the medium-sized box with Nike swoosh.",
+    "Set two the lace-up shoe in the smooth orange box for shoes with tips left.",
+    "Grab both the shoe with textured brown sole, ensure tips left, place in the bright orange shoe-box.",
+    "Pick up two the shoe with textured brown sole together and place in the bright orange shoe-box, tips left.",
+    "Arrange the two the shoe with textured brown sole, tips left, inside the bright orange shoe-box.",
+    "Move two the rounded-toe gym shoe, tip ends left, and set them in the orange shoe-box.",
+    "Lift two the shoe with textured brown sole, ensure left tips, drop in the medium-sized box with Nike swoosh.",
+    "Put two the shoe with textured brown sole, tips to the left, into the medium-sized box with Nike swoosh.",
+    "Move two the shoe with smooth leather upper into the orange shoe-box, ensure tips point left.",
+    "Place two the sports shoe in the medium-sized box with Nike swoosh, tip left when set.",
+    "Put two the lace-up black and white shoe into the bright orange shoe-box, shoe tips left.",
+    "Grab a pair of the brown sole shoe, tips left, put them into the smooth orange box for shoes.",
+    "Use arms to lift two the sports shoe, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Stick both the rounded-toe gym shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Place two the sports shoe into the rectangular shoe-box with orange lid, ensure shoe tips face left.",
+    "Lay down two the shoe with smooth leather upper in the bright orange shoe-box, tips oriented left.",
+    "Use both arms to set two the sports shoe in the bright orange shoe-box, tips left.",
+    "Take two the sports shoe, ensure tips left, place in the bright orange shoe-box.",
+    "Slide both the lace-up black and white shoe into the rectangular shoe-box with orange lid with tips pointing left.",
+    "Set two the black-striped athletic shoe in the the orange Nike shoe-box with logo, tips pointing left.",
+    "Drop a pair of the brown sole shoe into the smooth orange box for shoes, tips align left.",
+    "Lift and put two the sports shoe in the orange cardboard shoe-box, tips left.",
+    "Retrieve two the rounded-toe gym shoe, orienting tips left, and place in the shoe-box with Nike printed logo.",
+    "Place two the lace-up shoe inside the Nike-branded orange shoe-box, make tips face left.",
+    "Pick two the lace-up shoe, ensure tips facing left, and position in the orange cardboard shoe-box.",
+    "Move a pair of the white shoe into the rectangular orange shoe-box, left tips first.",
+    "Use hands to grab two the lace-up shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Pick up two the white shoe with black accents and set them in the orange cardboard shoe-box, tips left.",
+    "Make sure tips point left, then place the rounded-toe gym shoe in the rectangular shoe-box with orange lid.",
+    "Handle two the lace-up shoe, tips directed left, and drop them into the smooth orange box for shoes.",
+    "Ensure two the white shoe with black accents are in the Nike-branded orange shoe-box, tips facing left.",
+    "Hold two the black-striped athletic shoe, drop them in the rectangular orange shoe-box, tips pointing left.",
+    "Grab two the white shoe, tips left, place them carefully in the Nike-branded orange shoe-box.",
+    "Lift two the sports shoe, position them in the smooth orange box for shoes, tips to the left.",
+    "Set two the lace-up black and white shoe into the the shoe-box with Nike printed logo, align tips to the left.",
+    "Grab two the sports shoe, tip left, place them in the orange shoe-box.",
+    "Place two the white shoe with rubber bottom tips leftward into the the orange shoe-box.",
+    "Pick up two the rounded-toe gym shoe, tips left, and set them in the orange cardboard shoe-box.",
+    "Use both arms to place two the lace-up black and white shoe into the orange cardboard shoe-box, tips left.",
+    "Pick up two the rounded-toe gym shoe, tips left, drop them into the orange cardboard shoe-box.",
+    "Hold two the white shoe with rubber bottom, tips left, and place in the medium orange box with smooth surface.",
+    "Transfer two the white shoe with black accents, tips left-aligned, into the shoe-box with Nike printed logo.",
+    "Position two the white shoe into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Grasp two the rounded-toe gym shoe, tips aligned left, and place them in the rectangular orange shoe-box.",
+    "Grab and place two the lace-up shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Grab both the sports shoe and put them into the shoe-box with Nike printed logo, tips left.",
+    "Put two the rounded-toe gym shoe in the smooth orange box for shoes with tips facing left.",
+    "With both arms, move two the shoe with textured brown sole into the smooth bright orange box, tips facing left.",
+    "Collect two the white shoe with black accents, tips facing left, and put in the rectangular shoe-box with orange lid.",
+    "Set two the rounded-toe gym shoe in the smooth bright orange box with tips left.",
+    "Grab both the brown sole shoe, ensure tips left, place in the shoe-box with Nike printed logo.",
+    "Pick up two the white shoe with black accents together and place in the orange shoe-box, tips left.",
+    "Arrange the two the black-striped athletic shoe, tips left, inside the medium orange box with smooth surface.",
+    "Move two the black-striped athletic shoe, tip ends left, and set them in the bright orange shoe-box.",
+    "Lift two the footwear with white top, ensure left tips, drop in the rectangular orange shoe-box.",
+    "Put two the lace-up shoe, tips to the left, into the bright orange shoe-box.",
+    "Move two the lace-up shoe into the orange cardboard shoe-box, ensure tips point left.",
+    "Place two the black-striped athletic shoe in the rectangular shoe-box with orange lid, tip left when set.",
+    "Put two the shoe with smooth leather upper into the bright orange shoe-box, shoe tips left.",
+    "Grab a pair of the black-striped athletic shoe, tips left, put them into the bright orange shoe-box.",
+    "Use arms to lift two the white shoe with black accents, tips left, and set in the Nike-branded orange shoe-box.",
+    "Stick both the shoe with smooth leather upper in the bright orange shoe-box, shoe tips pointing left.",
+    "Place two the white shoe into the smooth orange box for shoes, ensure shoe tips face left.",
+    "Lay down two the footwear with white top in the bright orange shoe-box, tips oriented left.",
+    "Use both arms to set two the white shoe with black accents in the smooth bright orange box, tips left.",
+    "Take two the brown sole shoe, ensure tips left, place in the bright orange shoe-box.",
+    "Slide both the white shoe into the bright orange shoe-box with tips pointing left.",
+    "Set two the shoe with textured brown sole in the the medium-sized box with Nike swoosh, tips pointing left.",
+    "Drop a pair of the shoe with textured brown sole into the smooth bright orange box, tips align left.",
+    "Lift and put two the white shoe with rubber bottom in the orange Nike shoe-box with logo, tips left.",
+    "Retrieve two the white shoe with black accents, orienting tips left, and place in the rectangular orange shoe-box.",
+    "Place two the white shoe with black accents inside the orange cardboard shoe-box, make tips face left.",
+    "Pick two the white shoe with rubber bottom, ensure tips facing left, and position in the Nike-branded orange shoe-box.",
+    "Move a pair of the brown sole shoe into the smooth bright orange box, left tips first.",
+    "Use hands to grab two the white shoe with black accents, tips left, drop into the orange Nike shoe-box with logo.",
+    "Pick up two the white shoe and set them in the smooth bright orange box, tips left.",
+    "Make sure tips point left, then place the white shoe with black accents in the orange shoe-box.",
+    "Handle two the shoe with textured brown sole, tips directed left, and drop them into the medium orange box with smooth surface.",
+    "Ensure two the shoe with smooth leather upper are in the smooth bright orange box, tips facing left.",
+    "Hold two the rounded-toe gym shoe, drop them in the smooth orange box for shoes, tips pointing left.",
+    "Grab two the shoe with textured brown sole, tips left, place them carefully in the orange cardboard shoe-box.",
+    "Lift two the sports shoe, position them in the orange Nike shoe-box with logo, tips to the left.",
+    "Set two the white shoe with rubber bottom into the the smooth bright orange box, align tips to the left.",
+    "Grab two the white shoe with black accents, tip left, place them in the shoe-box with Nike printed logo.",
+    "Place two the white shoe tips leftward into the the smooth bright orange box.",
+    "Pick up two the white shoe, tips left, and set them in the smooth bright orange box.",
+    "Use both arms to place two the rounded-toe gym shoe into the rectangular orange shoe-box, tips left.",
+    "Pick up two the rounded-toe gym shoe, tips left, drop them into the rectangular orange shoe-box.",
+    "Hold two the rounded-toe gym shoe, tips left, and place in the medium orange box with smooth surface.",
+    "Transfer two the shoe with smooth leather upper, tips left-aligned, into the medium-sized box with Nike swoosh.",
+    "Position two the lace-up shoe into the smooth bright orange box, shoe tips leftward.",
+    "Grasp two the brown sole shoe, tips aligned left, and place them in the orange shoe-box.",
+    "Grab and place two the shoe with textured brown sole in the smooth bright orange box, tips left.",
+    "Grab both the white shoe with rubber bottom and put them into the smooth bright orange box, tips left.",
+    "Put two the shoe with smooth leather upper in the bright orange shoe-box with tips facing left.",
+    "With both arms, move two the shoe with smooth leather upper into the medium orange box with smooth surface, tips facing left.",
+    "Collect two the lace-up shoe, tips facing left, and put in the orange shoe-box.",
+    "Set two the black-striped athletic shoe in the medium orange box with smooth surface with tips left.",
+    "Grab both the lace-up black and white shoe, ensure tips left, place in the Nike-branded orange shoe-box."
+  ],
+  "unseen": [
+    "Lift two the shoe with black stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with striped design in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with black stripes into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with black stripes, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the shoe with striped design in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the white leather shoe with gum sole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the white leather shoe with gum sole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with black stripes and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the white leather shoe with gum sole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the rectangular Nike box for shoes.",
+    "Lift two the shoe with black stripes, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the white leather shoe with gum sole in the the orange box for keeping shoes, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the medium cardboard shoe-box, tips left.",
+    "Use both arms to move two the shoe with striped design to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the shoe with black stripes, tips left, into the medium cardboard shoe-box.",
+    "Lift two the shoe with black stripes, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with striped design in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with striped design into the medium cardboard shoe-box, tips left.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with striped design and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the white leather shoe with gum sole to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with black stripes into the orange box for keeping shoes, tips left.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the white leather shoe with gum sole and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the medium cardboard shoe-box.",
+    "Pick up two the shoe with striped design, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the medium cardboard shoe-box.",
+    "Put a pair of the shoe with black stripes in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with striped design into the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with black stripes, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the white leather shoe with gum sole to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the shoe with black stripes, place left tips in the orange box for keeping shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with black stripes in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the medium cardboard shoe-box.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the rectangular Nike box for shoes, tips pointing left.",
+    "Grab a pair of the shoe with striped design, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with striped design, tips pointing left, into the rectangular Nike box for shoes.",
+    "Put a pair of the shoe with striped design in the the rectangular Nike box for shoes, tips pointing left.",
+    "Place two the shoe with striped design into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Grab two the shoe with striped design, point tips left, place in the orange box for keeping shoes.",
+    "Grab two the shoe with black stripes and set them in the orange box for keeping shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the orange box for keeping shoes, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the rectangular Nike box for shoes.",
+    "Pick up two the white leather shoe with gum sole, tips left, into the medium cardboard shoe-box.",
+    "Lift two the white leather shoe with gum sole, tips pointing left, into the orange box for keeping shoes.",
+    "Put a pair of the white leather shoe with gum sole in the the medium cardboard shoe-box, tips pointing left.",
+    "Place two the shoe with striped design into the orange box for keeping shoes, tips left.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Grab two the white leather shoe with gum sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Grab two the shoe with striped design and set them in the rectangular Nike box for shoes, tips left.",
+    "Use both arms to move two the shoe with black stripes to the medium cardboard shoe-box, tips pointing left.",
+    "Grab a pair of the white leather shoe with gum sole, place left tips in the orange box for keeping shoes.",
+    "Pick up two the shoe with striped design, tips left, into the orange box for keeping shoes.",
+    "Lift two the shoe with black stripes, tips pointing left, into the orange box for keeping shoes."
+  ]
+}