diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode0.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b0220a7cb8c7ab35ddaa3ba8b4ac94f88403600
--- /dev/null
+++ b/grab_roller/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode12.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d3689f4cb5e86c803f06e357ab90380a997ef90
--- /dev/null
+++ b/grab_roller/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "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"
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode13.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..207949947ec980a110a04d0cf2aca7ae4dbc2fff
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode14.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..28067b4930aab96ff435b9ff16bcf7fc34745fef
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode15.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84c23042d4a2a1768301bd94277758370d47a8c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode16.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..864165c9fcd90ebee1fcd00297d11f9b089efebf
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode17.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e6aaccdb9157961ce3511f02b5aa7c99d27e05b
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode18.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..15192c04901dad06210b228ec58034d360e4c99c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode2.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10bc0a2c09e53971fff0e0d95da5d0bea8b34ff
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode3.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f8bc4cbcd84b409ff2a193c6d8f7f21c8c8850
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode4.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa87e626780ccb81cde0728790d9bdb60b2aed5
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode5.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..15feeee42f92e775c8544514099eac361f3e8fb5
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode6.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b3da45d7658518352930b1c657fccc32236faa4
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode7.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c682b7f2055e23c8d5cd46963900bead8165a59
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode8.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..c43e148a89bc53233e6993784fca62b6faea7f51
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/grab_roller/demo_clean_ep20_vidar/instructions/episode9.json b/grab_roller/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..79e33d2a9684f848ff8b072d44d7ab65567a2316
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode0.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..079ad253e0372d99e03748a269bd8714d285c063
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode1.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..425fa1a592bf73ce754c826b622e4017d9d05fb6
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode10.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e7170df59b7da40d956e1be11fcb19de9a046c4
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode11.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e10865d41848ef732cb440d5dcf83f24a0c8a7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode12.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce7e2e7f378337670a866111b1ef80f06ebc990
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode13.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b1e41600899242873021599f711b095fa09ca6
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode14.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..745d6dadb45929c04cc8109de0a2dd95cf0b9ae0
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode15.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5a23fa43807655c044c97bedf63760d8486d8
--- /dev/null
+++ b/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"
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode16.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4516fb92c5b7aaa40d274392c47ae822a444a0c
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode17.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a04f71e35ff27aa1cd35298ecf555d7473b4c2b
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode18.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..0528db04466c0d8bb73db7fcf4a549b355ff5653
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode19.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f4084b1580573a5d876d1c53469b00a13f41f7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode2.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5603048ce51ff4b81b715002680f09b571e7fd60
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode3.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..357ecfe1d70bd53b3ab2ddddda5ed7eccfcd5cea
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode4.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..5834d0bcaad0fe6ed2fd0a4c395356b99325bbeb
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode5.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8a1b831a885db3420acfd3982cc951b04afabd9
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode6.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4116bda081a0e97ce69678f3d1f05d3582179a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode7.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee4d55d3d7ce0d2f1d45d3aefe98837145840cb
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode8.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c188686c2a51e326b0b362d376ea63c997f1eb
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/instructions/episode9.json b/open_laptop/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee59258f0ae3078e44fb787ace60b4576d8f12e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/scene_info.json b/open_laptop/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0533a8d3462b8e9c3f2e65e41ead9b3c7e50609b
--- /dev/null
+++ b/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"
+        }
+    }
+}
\ No newline at end of file
diff --git a/open_laptop/demo_clean_ep20_vidar/seed.txt b/open_laptop/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df8c8a62cffede165eba16e5dd18239c807d8a92
--- /dev/null
+++ b/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 
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode1.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b4e75eb1d42f6888ade42c5a8406c3bce0426a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode10.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ad337be0c2f3efbc91bdabdf1e4f0f97f18387e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode11.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42974da952da0924818b53494e34ac500a4f876
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode14.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3123680284ba34c851fdd3a8491ed9af0e4c5aca
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode15.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a3e46244e099c8e27555d7ebde5d5fad0220ee8
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode16.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..485cfc1c617efef0e1413619813d40413968dbf5
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode18.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0dff3aed346987e153f0f212313f1812fab133a
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode19.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db282817807a0e8ed9622b2681901f14268d6cd
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode3.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..34548361bdc9d3f1a33d03c33746e028c99e20a6
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode5.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9658aa3b24f7bb63b34e41ecb5d36e5784758b7
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode6.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba08cee768d715d82308ca05774f4e301136c57
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode8.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..470395f1830acc7e6e7584762782e8d3801e115e
--- /dev/null
+++ b/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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode9.json b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd95c0de5b571c73544c66586ee9d985b4b42645
--- /dev/null
+++ b/place_dual_shoes/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the two the shoe with smooth top and grippy sole, tips left, inside the medium-sized box with Nike swoosh.",
+    "Place two the shoe made of rubber and leather tips leftward into the the orange shoe-box.",
+    "Use hands to grab two the average adult-sized shoe, tips left, drop into the medium orange box with smooth surface.",
+    "Put two the synthetic leather shoe into the orange Nike shoe-box with logo, shoe tips left.",
+    "Place two the average adult-sized shoe in the shoe-box with Nike printed logo, tip left when set.",
+    "Grab both the shoe with curved sole, ensure tips left, place in the smooth orange box for shoes.",
+    "Transfer two the wearable foot protector shoe, tips left-aligned, into the Nike-branded orange shoe-box.",
+    "Set two the average adult-sized shoe into the the orange shoe-box, align tips to the left.",
+    "Pick up two the shoe with curved sole, tips left, and set them in the rectangular orange shoe-box.",
+    "Grab and place two the shoe with smooth top and grippy sole in the smooth bright orange box, tips left.",
+    "Handle two the wearable foot protector shoe, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Grab two the shoe with curved sole, tips left, place them carefully in the medium-sized box with Nike swoosh.",
+    "Pick two the medium-sized black and white shoe, ensure tips facing left, and position in the rectangular shoe-box with orange lid.",
+    "Make sure tips point left, then place the rubber-soled shoe with lace-up top in the medium orange box with smooth surface.",
+    "Use both arms to set two the medium-sized black and white shoe in the orange cardboard shoe-box, tips left.",
+    "Set two the black and white shoe in the rectangular orange shoe-box with tips left.",
+    "Hold two the wearable foot protector shoe, drop them in the Nike-branded orange shoe-box, tips pointing left.",
+    "Pick up two the shoe with curved sole, tips left, drop them into the smooth bright orange box.",
+    "Stick both the medium-sized black and white shoe in the rectangular orange shoe-box, shoe tips pointing left.",
+    "Pick up two the average adult-sized shoe together and place in the Nike-branded orange shoe-box, tips left.",
+    "Grab a pair of the black shoe with white accents, tips left, put them into the rectangular orange shoe-box.",
+    "Ensure two the synthetic leather shoe are in the Nike-branded orange shoe-box, tips facing left.",
+    "With both arms, move two the wearable foot protector shoe into the shoe-box with Nike printed logo, tips facing left.",
+    "Grasp two the rubber-soled shoe with lace-up top, tips aligned left, and place them in the rectangular shoe-box with orange lid.",
+    "Collect two the medium-sized black and white shoe, tips facing left, and put in the bright orange shoe-box.",
+    "Take two the black shoe with white accents, ensure tips left, place in the orange shoe-box.",
+    "Grab two the synthetic leather shoe, tip left, place them in the orange cardboard shoe-box.",
+    "Place two the shoe with curved sole inside the Nike-branded orange shoe-box, make tips face left.",
+    "Use arms to lift two the shoe made of rubber and leather, tips left, and set in the medium-sized box with Nike swoosh.",
+    "Pick up two the synthetic leather shoe and set them in the smooth bright orange box, tips left.",
+    "Position two the synthetic leather shoe into the shoe-box with Nike printed logo, shoe tips leftward.",
+    "Lift and put two the synthetic leather shoe in the medium orange box with smooth surface, tips left.",
+    "Retrieve two the black and white shoe, orienting tips left, and place in the medium-sized box with Nike swoosh.",
+    "Put two the average adult-sized shoe in the smooth bright orange box with tips facing left.",
+    "Lift two the black and white shoe, position them in the bright orange shoe-box, tips to the left.",
+    "Hold two the rubber-soled shoe with lace-up top, tips left, and place in the medium orange box with smooth surface.",
+    "Move two the average adult-sized shoe into the medium orange box with smooth surface, ensure tips point left.",
+    "Slide both the average adult-sized shoe into the Nike-branded orange shoe-box with tips pointing left.",
+    "Drop a pair of the rubber-soled shoe with lace-up top into the medium orange box with smooth surface, tips align left.",
+    "Move two the comfortable shoe for walking, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Lay down two the medium-sized black and white shoe in the orange Nike shoe-box with logo, tips oriented left.",
+    "Move a pair of the shoe with curved sole into the orange Nike shoe-box with logo, left tips first.",
+    "Use both arms to place two the black shoe with white accents into the bright orange shoe-box, tips left.",
+    "Put two the dual-tone shoe with sleek design, tips to the left, into the medium orange box with smooth surface.",
+    "Place two the comfortable shoe for walking into the smooth bright orange box, ensure shoe tips face left.",
+    "Grab both the average adult-sized shoe and put them into the Nike-branded orange shoe-box, tips left.",
+    "Lift two the average adult-sized shoe, ensure left tips, drop in the shoe-box with Nike printed logo.",
+    "Set two the comfortable shoe for walking in the the rectangular shoe-box with orange lid, tips pointing left.",
+    "Arrange the two the black shoe with white accents, tips left, inside the smooth orange box for shoes.",
+    "Place two the rubber-soled shoe with lace-up top tips leftward into the the medium-sized box with Nike swoosh.",
+    "Use hands to grab two the wearable foot protector shoe, tips left, drop into the rectangular shoe-box with orange lid.",
+    "Put two the black shoe with white accents into the smooth bright orange box, shoe tips left.",
+    "Place two the shoe with curved sole in the shoe-box with Nike printed logo, tip left when set.",
+    "Grab both the shoe made of rubber and leather, ensure tips left, place in the smooth bright orange box.",
+    "Transfer two the synthetic leather shoe, tips left-aligned, into the medium orange box with smooth surface.",
+    "Set two the shoe made of rubber and leather into the the orange Nike shoe-box with logo, align tips to the left.",
+    "Pick up two the black shoe with white accents, tips left, and set them in the shoe-box with Nike printed logo.",
+    "Grab and place two the medium-sized black and white shoe in the orange shoe-box, tips left.",
+    "Handle two the comfortable shoe for walking, tips directed left, and drop them into the Nike-branded orange shoe-box.",
+    "Grab two the average adult-sized shoe, tips left, place them carefully in the smooth bright orange box.",
+    "Pick two the shoe made of rubber and leather, ensure tips facing left, and position in the medium orange box with smooth surface.",
+    "Make sure tips point left, then place the medium-sized black and white shoe in the rectangular orange shoe-box.",
+    "Use both arms to set two the medium-sized black and white shoe in the rectangular shoe-box with orange lid, tips left.",
+    "Set two the rubber-soled shoe with lace-up top in the Nike-branded orange shoe-box with tips left.",
+    "Hold two the shoe with smooth top and grippy sole, drop them in the medium orange box with smooth surface, tips pointing left.",
+    "Pick up two the black and white shoe, tips left, drop them into the medium-sized box with Nike swoosh.",
+    "Stick both the synthetic leather shoe in the rectangular shoe-box with orange lid, shoe tips pointing left.",
+    "Pick up two the dual-tone shoe with sleek design together and place in the medium-sized box with Nike swoosh, tips left.",
+    "Grab a pair of the wearable foot protector shoe, tips left, put them into the shoe-box with Nike printed logo.",
+    "Ensure two the wearable foot protector shoe are in the bright orange shoe-box, tips facing left.",
+    "With both arms, move two the medium-sized black and white shoe into the smooth bright orange box, tips facing left.",
+    "Grasp two the shoe with curved sole, tips aligned left, and place them in the Nike-branded orange shoe-box.",
+    "Collect two the medium-sized black and white shoe, tips facing left, and put in the bright orange shoe-box.",
+    "Take two the medium-sized black and white shoe, ensure tips left, place in the rectangular shoe-box with orange lid.",
+    "Grab two the wearable foot protector shoe, tip left, place them in the shoe-box with Nike printed logo.",
+    "Place two the rubber-soled shoe with lace-up top inside the smooth orange box for shoes, make tips face left.",
+    "Use arms to lift two the wearable foot protector shoe, tips left, and set in the smooth bright orange box.",
+    "Pick up two the comfortable shoe for walking and set them in the medium-sized box with Nike swoosh, tips left.",
+    "Position two the black shoe with white accents into the orange Nike shoe-box with logo, shoe tips leftward.",
+    "Lift and put two the shoe made of rubber and leather in the smooth orange box for shoes, tips left.",
+    "Retrieve two the shoe made of rubber and leather, orienting tips left, and place in the bright orange shoe-box.",
+    "Put two the black shoe with white accents in the smooth bright orange box with tips facing left.",
+    "Lift two the shoe with smooth top and grippy sole, position them in the rectangular shoe-box with orange lid, tips to the left.",
+    "Hold two the shoe made of rubber and leather, tips left, and place in the Nike-branded orange shoe-box.",
+    "Move two the comfortable shoe for walking into the smooth orange box for shoes, ensure tips point left.",
+    "Slide both the dual-tone shoe with sleek design into the orange Nike shoe-box with logo with tips pointing left.",
+    "Drop a pair of the synthetic leather shoe into the rectangular orange shoe-box, tips align left.",
+    "Move two the synthetic leather shoe, tip ends left, and set them in the shoe-box with Nike printed logo.",
+    "Lay down two the medium-sized black and white shoe in the smooth orange box for shoes, tips oriented left.",
+    "Move a pair of the comfortable shoe for walking into the medium orange box with smooth surface, left tips first.",
+    "Use both arms to place two the wearable foot protector shoe into the Nike-branded orange shoe-box, tips left.",
+    "Put two the shoe made of rubber and leather, tips to the left, into the bright orange shoe-box.",
+    "Place two the black shoe with white accents into the rectangular shoe-box with orange lid, ensure shoe tips face left.",
+    "Grab both the black shoe with white accents and put them into the Nike-branded orange shoe-box, tips left.",
+    "Lift two the comfortable shoe for walking, ensure left tips, drop in the bright orange shoe-box.",
+    "Set two the shoe with curved sole in the the medium orange box with smooth surface, tips pointing left.",
+    "Arrange the two the medium-sized black and white shoe, tips left, inside the orange shoe-box.",
+    "Place two the shoe with curved sole tips leftward into the the bright orange shoe-box.",
+    "Use hands to grab two the shoe made of rubber and leather, tips left, drop into the orange shoe-box.",
+    "Put two the shoe with smooth top and grippy sole into the rectangular orange shoe-box, shoe tips left."
+  ],
+  "unseen": [
+    "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 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 two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place 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.",
+    "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.",
+    "Pick up two the black shoe with white midsole, tips left, into the orange box for keeping 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 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 medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "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 white midsole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the black shoe with white midsole, tips 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 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 orange box for keeping shoes.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place 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.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the black shoe with white midsole into the medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the orange box for keeping shoes.",
+    "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 orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place 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.",
+    "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.",
+    "Pick up two the shoe with padded collar and tongue, tips 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.",
+    "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 white midsole, tips pointing left, into the rectangular Nike box for shoes.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the orange box for keeping shoes.",
+    "Place two the shoe with padded collar and tongue into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the black shoe with curved white sole, tips 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.",
+    "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 orange box for keeping shoes.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the rectangular Nike box for shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the medium cardboard shoe-box, tips pointing left.",
+    "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 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.",
+    "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 shoe with padded collar and tongue in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the medium cardboard shoe-box.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with white midsole, tips left, into the medium cardboard shoe-box.",
+    "Place two the shoe with padded collar and tongue into 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.",
+    "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 curved white sole 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 two the shoe with padded collar and tongue and set them in the orange box for keeping shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the orange box for keeping shoes.",
+    "Use both arms to move two the shoe with padded collar and tongue to the orange box for keeping shoes, tips pointing left.",
+    "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 medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for 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 white midsole in the the orange box for keeping shoes, tips pointing left.",
+    "Lift two the black shoe with white midsole, tips pointing left, into the medium cardboard shoe-box.",
+    "Grab two the black shoe with curved white sole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the shoe with padded collar and tongue, point tips left, place in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the black shoe with curved white sole, tips left, into the rectangular Nike box for shoes.",
+    "Place two the shoe with padded collar and tongue into 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.",
+    "Grab a pair of the black shoe with curved white sole, place left tips in the medium cardboard shoe-box.",
+    "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 medium cardboard shoe-box.",
+    "Grab two the shoe with padded collar and tongue and set them in the medium cardboard shoe-box, tips left.",
+    "Grab two the black shoe with white midsole, point tips left, place in the orange box for keeping shoes.",
+    "Use both arms to move two the black shoe with curved white sole to the medium cardboard shoe-box, tips pointing left.",
+    "Pick up two the shoe with padded collar and tongue, tips left, into the rectangular Nike box for shoes.",
+    "Place two the black shoe with white midsole into the rectangular Nike box for shoes, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips 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.",
+    "Put a pair of the black shoe with white midsole 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 medium cardboard shoe-box.",
+    "Grab two the black shoe with white midsole and set them in the rectangular Nike box for shoes, tips left.",
+    "Grab two the black shoe with curved white sole, point tips left, place in the rectangular Nike box for shoes.",
+    "Use both arms to move two the black shoe with white midsole to the medium cardboard shoe-box, tips pointing left.",
+    "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 medium cardboard shoe-box, tips left.",
+    "Pick up two the shoe with padded collar and tongue, tips 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."
+  ]
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/scene_info.json b/place_dual_shoes/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb44fed653132a1fc13f2152e27a8d1288ef1f8
--- /dev/null
+++ b/place_dual_shoes/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}": "041_shoe/base1",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base2",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base6",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base8",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base2",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base8",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base9",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{B}": "007_shoe-box/base0"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{B}": "007_shoe-box/base0"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_dual_shoes/demo_clean_ep20_vidar/seed.txt b/place_dual_shoes/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2a0b3a3b34689687ae3ac29557f060cf74f4ee5
--- /dev/null
+++ b/place_dual_shoes/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 13 15 16 18 19 20 21 22 
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode0.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a5c0ff910bb856cee30ed587c9e5033dbad24
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the basket for holding items.",
+    "Pick up the blue carton for playingcards, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Pick the playingcards pack with blue top, put it inside the basket made of woven wood.",
+    "Grab the blue playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the playingcards box with white symbols and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the blue playingcards box, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick the box of playingcards, drop the box of playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Put the blue and white playingcards packaging in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the blue carton for playingcards, set it into the basket with handle.",
+    "Place the blue carton for playingcards in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Set the playingcards box with white symbols in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the light brown oval basket.",
+    "Lift the blue carton for playingcards, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Use one arm to place the playingcards box with white symbols in the basket for holding items.",
+    "Use one arm to grab the box of playingcards, place it in the basket with handle, then move the basket with handle.",
+    "Take the blue playingcards box, put the blue playingcards box into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Put the playingcards box with white symbols in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick the blue and white playingcards packaging and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the palm-sized playingcards carton and set it inside the woven basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges.",
+    "Move the blue and white playingcards packaging to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging and drop it in the basket with loop handle.",
+    "Take the blue playingcards box, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Use one arm to place the palm-sized playingcards carton in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the playingcards pack with blue top, then shift the woven basket.",
+    "Lift the blue playingcards box, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the blue playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the rectangular blue playingcards case, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Grab the box of playingcards, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the card box with golden designs into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick the small playingcards container, place it in the woven basket, shift the woven basket.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Pick up the blue carton for playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the card box with golden designs, put it inside the oval-shaped basket with woven body.",
+    "Grab the box of playingcards, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the blue carton for playingcards and drop it in the woven basket, then move the woven basket.",
+    "Pick up the card box with golden designs, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Put the box of playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the playingcards pack with blue top, set it into the basket with handle.",
+    "Place the small playingcards container in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Set the box of playingcards in the basket for holding items, and shift the basket for holding items away.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the oval-shaped basket with woven body.",
+    "Lift the box of playingcards, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use one arm to place the blue playingcards box in the smooth ribbed light brown basket.",
+    "Use one arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the small playingcards container, put the small playingcards container into the basket with loop handle, shift the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the basket with loop handle and pull the basket with loop handle away.",
+    "Lift the card box with golden designs using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Pick the rectangular blue playingcards case and position it in the woven basket, move the woven basket slightly.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket made of woven wood.",
+    "Pick the small playingcards container, place it in the woven basket.",
+    "Move the palm-sized playingcards carton to the smooth ribbed light brown basket, then shift the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "Take the blue carton for playingcards, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Use one arm to place the palm-sized playingcards carton in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick and move the box of playingcards, then shift the woven basket.",
+    "Lift the card box with golden designs, place it into the brown basket, move the brown basket.",
+    "Grab the rectangular blue playingcards case, drop it in the basket with handle, then move the basket with handle.",
+    "Grab the blue playingcards box, drop in the basket with handle, and move the basket with handle.",
+    "Grab the box of playingcards, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Place the small playingcards container into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the box of playingcards, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick up the playingcards pack with blue top, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Pick the smooth playingcards holder, put it inside the wooden basket with curved handle.",
+    "Grab the blue and white playingcards packaging, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the blue pack holding playingcards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the playingcards pack with blue top, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket for holding items, slide the basket for holding items lightly.",
+    "Put the blue playingcards box in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Grab the playingcards box with white symbols, set it into the brown basket with woven ridges.",
+    "Place the blue pack holding playingcards in the basket with loop handle, then grab the basket with loop handle.",
+    "Set the small playingcards container in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the wooden basket with curved handle.",
+    "Lift the small playingcards container, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Use one arm to place the palm-sized playingcards carton in the brown basket with woven ridges.",
+    "Use one arm to grab the blue playingcards box, place it in the brown basket, then move the brown basket.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for carrying things, shift the basket for carrying things.",
+    "Put the playingcards box with white symbols in the basket for holding items and pull the basket for holding items away.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Pick the playingcards pack with blue top and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Pick up the rectangular blue playingcards case and set it inside the basket with loop handle.",
+    "Pick the card box with golden designs, place it in the brown basket with woven ridges.",
+    "Move the small playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Grab the playingcards box with white symbols and drop it in the oval-shaped basket with woven body.",
+    "Take the blue playingcards box, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use one arm to place the small playingcards container in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Lift the palm-sized playingcards carton, place it into the brown basket, move the brown basket.",
+    "Grab the blue carton for playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the blue pack holding playingcards, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the rectangular blue playingcards case into the brown basket and push the brown basket slightly away.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for holding items."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode1.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec23cb57b0675f820de7660dbd9d9de83c40566
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the rectangular playingcards case in the basket with handle and pull the basket with handle away.",
+    "Grab the smooth playingcards pack, place it in the basket with handle, then move the basket with handle away.",
+    "Use the left arm to pick the compact red playingcards pack, then use the right arm for the woven basket.",
+    "Grab the box for playingcards, set it into the woven basket.",
+    "Pick up the red and yellow playingcards case, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Set the yellow and red playingcards box in the light brown oval basket, and shift the light brown oval basket away.",
+    "Pick the smooth playingcards pack, put it inside the basket for holding items.",
+    "Place the red playingcards box into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Take the small playingcards pack, put the small playingcards pack into the basket with loop handle, shift the basket with loop handle.",
+    "Lift the red and yellow playingcards case using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Use one arm to grab the compact red playingcards pack, place it in the brown basket, then move the brown basket.",
+    "Grab the box for playingcards, drop in the woven basket, and move the woven basket.",
+    "Put the box for playingcards in the basket with handle, then move the basket with handle away slightly.",
+    "Use one arm to place the playingcards box with white accents in the light brown oval basket.",
+    "Pick and move the small playingcards pack, then shift the basket with handle.",
+    "Pick the rectangular playingcards case, drop the rectangular playingcards case in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the compact red playingcards pack, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the compact red playingcards pack and drop it in the brown basket, then move the brown basket.",
+    "Pick up the red and yellow playingcards case, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the hand-sized playingcards container with one arm, drop the hand-sized playingcards container in the basket for holding items.",
+    "Lift the playingcards box with white accents, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Use one arm to place the yellow and red playingcards box in the brown basket with woven ridges, adjust the brown basket with woven ridges.",
+    "Lift the playingcards storage box, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Place the red playingcards box in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the glossy rectangular playingcards box and drop it in the light brown oval basket.",
+    "Pick the playingcards storage box and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Grab the rectangular playingcards case, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the glossy rectangular playingcards box and set it inside the brown basket with woven ridges.",
+    "Use the left arm to grab the glossy rectangular playingcards box, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the yellow and red playingcards box, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the smooth playingcards pack to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick the playingcards storage box, place it in the brown basket with woven ridges.",
+    "Put the yellow and red playingcards box in the basket with handle and pull the basket with handle away.",
+    "Grab the yellow and red playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Use the left arm to pick the hand-sized playingcards container, then use the right arm for the brown basket.",
+    "Grab the red and yellow playingcards case, set it into the woven basket.",
+    "Pick up the compact red playingcards pack, place it in the basket with handle, grab the basket with handle.",
+    "Set the playingcards box with white accents in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the compact red playingcards pack, put it inside the basket for holding items.",
+    "Place the box for playingcards into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Take the yellow and red playingcards box, put the yellow and red playingcards box into the basket with loop handle, shift the basket with loop handle.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use one arm to grab the smooth playingcards pack, place it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the small playingcards pack, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Put the rectangular playingcards case in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Use one arm to place the playingcards storage box in the basket with loop handle.",
+    "Pick and move the smooth playingcards pack, then shift the light brown oval basket.",
+    "Pick the red playingcards box, drop the red playingcards box in the brown basket, slide the brown basket lightly.",
+    "Pick the red playingcards box, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the red and yellow playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the playingcards box with white accents, put it in the basket with handle, shift the basket with handle a little.",
+    "Grab the red playingcards box with one arm, drop the red playingcards box in the basket with handle.",
+    "Lift the smooth playingcards pack, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Use one arm to place the playingcards storage box in the basket for carrying things, adjust the basket for carrying things.",
+    "Lift the glossy rectangular playingcards box, place it into the basket for holding items, move the basket for holding items.",
+    "Place the glossy rectangular playingcards box in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Grab the small playingcards pack and drop it in the basket with handle.",
+    "Pick the hand-sized playingcards container and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Grab the red playingcards box, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick up the smooth playingcards pack and set it inside the brown basket.",
+    "Use the left arm to grab the compact red playingcards pack, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Grab the compact red playingcards pack, drop it in the woven basket, then move the woven basket.",
+    "Take the hand-sized playingcards container, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Move the yellow and red playingcards box to the basket with handle, then shift the basket with handle.",
+    "Pick the hand-sized playingcards container, place it in the basket with loop handle.",
+    "Put the glossy rectangular playingcards box in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the glossy rectangular playingcards box, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Use the left arm to pick the small playingcards pack, then use the right arm for the basket made of woven wood.",
+    "Grab the glossy rectangular playingcards box, set it into the basket with loop handle.",
+    "Pick up the smooth playingcards pack, place it in the basket with handle, grab the basket with handle.",
+    "Set the compact red playingcards pack in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the compact red playingcards pack, put it inside the basket made of woven wood.",
+    "Place the glossy rectangular playingcards box into the brown basket and push the brown basket slightly away.",
+    "Take the red and yellow playingcards case, put the red and yellow playingcards case into the woven basket, shift the woven basket.",
+    "Lift the red playingcards box using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use one arm to grab the small playingcards pack, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the box for playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Put the red and yellow playingcards case in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use one arm to place the small playingcards pack in the brown basket.",
+    "Pick and move the smooth playingcards pack, then shift the light brown oval basket.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the hand-sized playingcards container, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Pick up the smooth playingcards pack and drop it in the woven basket, then move the woven basket.",
+    "Pick up the box for playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the basket with handle.",
+    "Lift the playingcards storage box, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Use one arm to place the yellow and red playingcards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Lift the smooth playingcards pack, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Place the rectangular playingcards case in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the small playingcards pack and drop it in the basket made of woven wood.",
+    "Pick the red and yellow playingcards case and position it in the brown basket, move the brown basket slightly.",
+    "Grab the compact red playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the red and yellow playingcards case and set it inside the basket for carrying things.",
+    "Use the left arm to grab the playingcards box with white accents, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Grab the small playingcards pack, drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the yellow and red playingcards box, set it in the basket with handle, shift the basket with handle lightly.",
+    "Move the playingcards box with white accents to the woven basket, then shift the woven basket.",
+    "Pick the box for playingcards, place it in the smooth ribbed light brown basket.",
+    "Put the hand-sized playingcards container in the basket with handle and pull the basket with handle away."
+  ],
+  "unseen": [
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Move the small box for playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the small box for playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular red playingcards holder, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode10.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..2610079556374b4d775f015611182929e0638104
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the brown basket.",
+    "Lift the playingcards box with white symbols, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the box of playingcards to the brown basket, then shift the brown basket.",
+    "Put the rectangular blue playingcards case in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, shift the brown basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with handle, then move the basket with handle.",
+    "Set the rectangular blue playingcards case in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the light brown oval basket.",
+    "Use one arm to place the box of playingcards in the brown basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket with handle, adjust the basket with handle.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket.",
+    "Pick the blue playingcards box, place it in the basket made of woven wood.",
+    "Place the rectangular blue playingcards case in the brown basket, then grab the brown basket.",
+    "Grab the smooth playingcards holder, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick and move the playingcards box with white symbols, then shift the smooth ribbed light brown basket.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the small playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Pick the blue pack holding playingcards, drop the blue pack holding playingcards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick up the playingcards pack with blue top and set it inside the basket with handle.",
+    "Lift the smooth playingcards holder, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the blue playingcards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the card box with golden designs, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Pick the box of playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Grab the blue and white playingcards packaging, drop in the woven basket, and move the woven basket.",
+    "Grab the smooth playingcards holder and drop it in the basket with handle.",
+    "Grab the box of playingcards, set it into the wooden basket with curved handle.",
+    "Pick up the playingcards box with white symbols, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick the blue carton for playingcards, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the playingcards pack with blue top in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Place the rectangular blue playingcards case into the basket for holding items and push the basket for holding items slightly away.",
+    "Use the left arm to pick the card box with golden designs, then use the right arm for the basket with handle.",
+    "Lift the playingcards box with white symbols, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the playingcards box with white symbols to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Put the small playingcards container in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the box of playingcards, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Pick up the rectangular blue playingcards case and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Set the rectangular blue playingcards case in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the brown basket.",
+    "Use one arm to place the blue pack holding playingcards in the basket with handle.",
+    "Use one arm to place the blue pack holding playingcards in the woven basket, adjust the woven basket.",
+    "Pick the blue pack holding playingcards, put it inside the woven basket.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket.",
+    "Place the smooth playingcards holder in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the small playingcards container, place it in the brown basket, then move the brown basket away.",
+    "Pick and move the playingcards pack with blue top, then shift the woven basket.",
+    "Use one arm to grab the blue and white playingcards packaging, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the playingcards pack with blue top, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick the blue playingcards box, drop the blue playingcards box in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Pick up the playingcards box with white symbols and set it inside the light brown oval basket.",
+    "Lift the box of playingcards, place it into the brown basket, move the brown basket.",
+    "Grab the smooth playingcards holder, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Pick up the blue pack holding playingcards, put it in the brown basket, shift the brown basket a little.",
+    "Pick the playingcards box with white symbols and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Grab the blue playingcards box, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Grab the palm-sized playingcards carton and drop it in the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, set it into the basket with loop handle.",
+    "Pick up the palm-sized playingcards carton, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket, shift the brown basket.",
+    "Put the card box with golden designs in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Place the playingcards pack with blue top into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the light brown oval basket.",
+    "Lift the playingcards pack with blue top, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Move the blue playingcards box to the woven basket, then shift the woven basket.",
+    "Put the card box with golden designs in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the card box with golden designs, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Pick up the rectangular blue playingcards case and drop it in the basket with handle, then move the basket with handle.",
+    "Set the blue carton for playingcards in the basket for carrying things, and shift the basket for carrying things away.",
+    "Grab the smooth playingcards holder with one arm, drop the smooth playingcards holder in the basket with handle.",
+    "Use one arm to place the blue carton for playingcards in the oval-shaped basket with woven body.",
+    "Use one arm to place the box of playingcards in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick the blue and white playingcards packaging, put it inside the woven basket.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle.",
+    "Place the smooth playingcards holder in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Pick and move the playingcards pack with blue top, then shift the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the basket with handle, then move the basket with handle.",
+    "Take the smooth playingcards holder, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the basket with handle, slide the basket with handle lightly.",
+    "Lift the blue playingcards box using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Pick up the blue playingcards box and set it inside the basket with loop handle.",
+    "Lift the blue playingcards box, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with loop handle, shift the basket with loop handle.",
+    "Pick up the small playingcards container, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the blue playingcards box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Grab the small playingcards container, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Grab the card box with golden designs and drop it in the brown basket.",
+    "Grab the rectangular blue playingcards case, set it into the light brown oval basket.",
+    "Pick up the playingcards pack with blue top, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the playingcards box with white symbols, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the rectangular blue playingcards case in the basket with loop handle and pull the basket with loop handle away.",
+    "Place the box of playingcards into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the brown basket."
+  ],
+  "unseen": [
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode11.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f08c642fdf503065043b3dc0dd91e7c90127156
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the pink toycar and position it in the yellow basket, move the yellow basket slightly.",
+    "Grab the pink toycar with rounded corners and drop it in the basket with black handle.",
+    "Grab the toycar made from smooth plastic, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the small toycar for kids play, place it in the yellow basket for carrying stuff.",
+    "Pick the small pink plastic toycar, drop the small pink plastic toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Pick up the small pink plastic toycar and drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Move the hand-sized toycar with white roof bars to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Set the miniature pink car with black wheels in the basket with black handle, and shift the basket with black handle away.",
+    "Pick the toycar with rounded compact shape, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Grab the toycar with purple tinted windows with one arm, drop the toycar with purple tinted windows in the basket with black handle.",
+    "Grab the small toycar for kids play, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Use one arm to place the toycar made from smooth plastic in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Pick up the pink car with purple windows, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the toycar with purple tinted windows, set it in the medium yellow basket with slots, shift the medium yellow basket with slots lightly.",
+    "Put the pink toycar in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away slightly.",
+    "Place the pink toycar shaped like real car in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the hand-sized toycar with white roof bars, place it in the basket with black handle, grab the basket with black handle.",
+    "Grab the hand-sized toycar with white roof bars, drop in the plastic basket, and move the plastic basket.",
+    "Pick and move the hand-sized toycar with white roof bars, then shift the rectangular basket with smooth surface.",
+    "Place the small toycar for kids play into the bright yellow basket and push the bright yellow basket slightly away.",
+    "Use one arm to place the pink toycar with rounded corners in the basket with black handle.",
+    "Pick up the pink toycar and set it inside the yellow basket for carrying stuff.",
+    "Use the left arm to grab the pink car with purple windows, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the right arm.",
+    "Use one arm to grab the small pink car with smooth texture, place it in the plastic basket, then move the plastic basket.",
+    "Lift the pink car with purple windows, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Lift the toycar with purple tinted windows using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Put the toycar with purple tinted windows in the yellow basket and pull the yellow basket away.",
+    "Pick the toycar with rounded compact shape, put it inside the carrying basket with black plastic handle.",
+    "Lift the hand-sized toycar with white roof bars, place it into the handheld basket, move the handheld basket.",
+    "Use the left arm to pick the pink car with purple windows, then use the right arm for the bright yellow basket.",
+    "Grab the small pink plastic toycar, set it into the handheld basket.",
+    "Take the pink car with purple windows, put the pink car with purple windows into the plastic basket, shift the plastic basket.",
+    "Grab the miniature pink car with black wheels, place it in the basket with black handle, then move the basket with black handle away.",
+    "Pick the pink toycar shaped like real car and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Grab the pink car with purple windows and drop it in the plastic basket.",
+    "Grab the toycar made from smooth plastic, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick the pink toycar with rounded corners, place it in the carrying basket with black plastic handle.",
+    "Pick the toycar made from smooth plastic, drop the toycar made from smooth plastic in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Pick up the small pink plastic toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Move the hand-sized toycar with white roof bars to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle.",
+    "Set the pink toycar shaped like real car in the yellow basket, and shift the yellow basket away.",
+    "Pick the small toycar for kids play, place it in the yellow basket, shift the yellow basket.",
+    "Grab the pink toycar with one arm, drop the pink toycar in the basket with black handle.",
+    "Grab the pink toycar shaped like real car, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Use one arm to place the small pink car with smooth texture in the basket with perforated sides, adjust the basket with perforated sides.",
+    "Pick up the miniature pink car with black wheels, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Take the small pink plastic toycar, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Put the pink toycar with rounded corners in the handheld basket, then move the handheld basket away slightly.",
+    "Place the small pink car with smooth texture in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Pick up the small pink plastic toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Grab the hand-sized toycar with white roof bars, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Pick and move the miniature pink car with black wheels, then shift the basket with arched black grip.",
+    "Place the small toycar for kids play into the handheld basket and push the handheld basket slightly away.",
+    "Use one arm to place the pink toycar with rounded corners in the yellow basket.",
+    "Pick up the miniature pink car with black wheels and set it inside the carrying basket with black plastic handle.",
+    "Use the left arm to grab the pink toycar with rounded corners, place it in the basket with black handle, and move the basket with black handle using the right arm.",
+    "Use one arm to grab the pink toycar, place it in the handheld basket, then move the handheld basket.",
+    "Lift the miniature pink car with black wheels, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Lift the pink toycar using the left arm, drop it in the plastic basket, then push the plastic basket via the right arm.",
+    "Put the pink toycar in the rectangular yellow basket and pull the rectangular yellow basket away.",
+    "Pick the small pink plastic toycar, put it inside the handheld basket.",
+    "Lift the pink toycar, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Use the left arm to pick the toycar with purple tinted windows, then use the right arm for the yellow basket.",
+    "Grab the pink toycar, set it into the bright yellow basket.",
+    "Take the small pink car with smooth texture, put the small pink car with smooth texture into the basket with perforated sides, shift the basket with perforated sides.",
+    "Grab the toycar with rounded compact shape, place it in the plastic basket, then move the plastic basket away.",
+    "Pick the pink toycar with rounded corners and position it in the bright yellow basket, move the bright yellow basket slightly.",
+    "Grab the pink toycar and drop it in the carrying basket with black plastic handle.",
+    "Grab the pink toycar with rounded corners, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the hand-sized toycar with white roof bars, place it in the yellow basket for carrying stuff.",
+    "Pick the pink car with purple windows, drop the pink car with purple windows in the plastic basket, slide the plastic basket lightly.",
+    "Pick up the pink toycar with rounded corners and drop it in the yellow basket, then move the yellow basket.",
+    "Move the pink car with purple windows to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Set the toycar with purple tinted windows in the rectangular yellow basket, and shift the rectangular yellow basket away.",
+    "Pick the pink car with purple windows, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Grab the pink toycar with rounded corners with one arm, drop the pink toycar with rounded corners in the yellow basket.",
+    "Grab the small toycar for kids play, drop it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the pink toycar shaped like real car in the medium yellow basket with slots, adjust the medium yellow basket with slots.",
+    "Pick up the small pink plastic toycar, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Take the pink toycar, set it in the yellow basket, shift the yellow basket lightly.",
+    "Put the pink toycar with rounded corners in the basket with black handle, then move the basket with black handle away slightly.",
+    "Place the toycar with purple tinted windows in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Pick up the miniature pink car with black wheels, place it in the basket with perforated sides, grab the basket with perforated sides.",
+    "Grab the small pink plastic toycar, drop in the basket with arched black grip, and move the basket with arched black grip.",
+    "Pick and move the small toycar for kids play, then shift the basket with black handle.",
+    "Place the toycar with purple tinted windows into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Use one arm to place the hand-sized toycar with white roof bars in the rectangular basket with smooth surface.",
+    "Pick up the small pink car with smooth texture and set it inside the handheld basket.",
+    "Use the left arm to grab the pink car with purple windows, place it in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff using the right arm.",
+    "Use one arm to grab the pink car with purple windows, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Lift the miniature pink car with black wheels, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Lift the pink toycar using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm.",
+    "Put the pink toycar in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick the small toycar for kids play, put it inside the yellow basket.",
+    "Lift the pink toycar with rounded corners, place it into the medium yellow basket with slots, move the medium yellow basket with slots.",
+    "Use the left arm to pick the toycar made from smooth plastic, then use the right arm for the yellow basket for carrying stuff.",
+    "Grab the hand-sized toycar with white roof bars, set it into the basket with black handle.",
+    "Take the pink toycar, put the pink toycar into the basket with black handle, shift the basket with black handle.",
+    "Grab the pink toycar with rounded corners, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Pick the pink toycar shaped like real car and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly."
+  ],
+  "unseen": [
+    "Grab the pink toycar with white bumper and place into the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with shiny black tires in the yellow basket with open slots and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the pink toycar with white bumper and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the tiny pink car with four wheels and drop in the medium-sized basket with perforated texture.",
+    "Move the pink toycar with white bumper to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the tiny pink car with four wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the tiny pink car with four wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the pink toycar with white bumper, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires and place into the medium-sized basket with perforated texture.",
+    "Place the pink toycar with white bumper in the yellow basket with open slots and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it into the medium-sized basket with perforated texture.",
+    "Pick up the pink toycar with white bumper and drop in the yellow rectangular basket with dual grips.",
+    "Move the tiny pink car with four wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the tiny pink car with four wheels and put it in the yellow basket with open slots.",
+    "Pick up the tiny pink car with four wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the tiny pink car with four wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires and place into the yellow basket with open slots.",
+    "Place the pink toycar with white bumper in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the yellow rectangular basket with dual grips.",
+    "Grab the pink toycar with white bumper and put it into the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with shiny black tires and drop in the yellow basket with open slots.",
+    "Move the tiny pink car with four wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it in the medium-sized basket with perforated texture.",
+    "Pick up the pink toycar with white bumper, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the tiny pink car with four wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the pink toycar with white bumper and place into the medium-sized basket with perforated texture.",
+    "Place the pink toycar with white bumper in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with shiny black tires and put it into the yellow basket with open slots.",
+    "Pick up the pink toycar with white bumper and drop in the yellow basket with open slots.",
+    "Move the pink toycar with white bumper to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it in the yellow basket with open slots.",
+    "Pick up the tiny pink car with four wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the tiny pink car with four wheels and place into the yellow basket with open slots.",
+    "Place the tiny pink car with four wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the pink toycar with white bumper and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the pink toycar with white bumper and drop in the yellow rectangular basket with dual grips.",
+    "Move the pink toycar with white bumper to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the pink toycar with white bumper and put it in the medium-sized basket with perforated texture.",
+    "Pick up the pink toycar with white bumper, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires and place into the yellow basket with open slots.",
+    "Place the compact toycar with shiny black tires in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the compact toycar with shiny black tires, place it in the yellow rectangular basket with dual grips.",
+    "Grab the tiny pink car with four wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the pink toycar with white bumper and drop in the yellow basket with open slots.",
+    "Move the tiny pink car with four wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the pink toycar with white bumper, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the pink toycar with white bumper and place into the yellow basket with open slots.",
+    "Place the compact toycar with shiny black tires in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the tiny pink car with four wheels, place it in the yellow rectangular basket with dual grips.",
+    "Grab the tiny pink car with four wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the tiny pink car with four wheels and drop in the yellow rectangular basket with dual grips.",
+    "Move the tiny pink car with four wheels to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the pink toycar with white bumper and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the tiny pink car with four wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the tiny pink car with four wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the tiny pink car with four wheels and place into the yellow basket with open slots.",
+    "Place the pink toycar with white bumper in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the yellow rectangular basket with dual grips.",
+    "Grab the tiny pink car with four wheels and put it into the medium-sized basket with perforated texture.",
+    "Pick up the pink toycar with white bumper and drop in the yellow basket with open slots.",
+    "Move the compact toycar with shiny black tires to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with shiny black tires and put it in the yellow basket with open slots.",
+    "Pick up the compact toycar with shiny black tires, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with shiny black tires, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with shiny black tires and place into the yellow basket with open slots.",
+    "Place the tiny pink car with four wheels in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it into the yellow basket with open slots.",
+    "Pick up the tiny pink car with four wheels and drop in the medium-sized basket with perforated texture.",
+    "Move the pink toycar with white bumper to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the tiny pink car with four wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the pink toycar with white bumper, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with shiny black tires, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with shiny black tires and place into the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with shiny black tires in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the yellow rectangular basket with dual grips.",
+    "Grab the pink toycar with white bumper and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the tiny pink car with four wheels and drop in the yellow rectangular basket with dual grips.",
+    "Move the tiny pink car with four wheels to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires and put it in the yellow basket with open slots.",
+    "Pick up the pink toycar with white bumper, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the tiny pink car with four wheels, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with shiny black tires and place into the yellow basket with open slots.",
+    "Place the compact toycar with shiny black tires in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the pink toycar with white bumper, place it in the medium-sized basket with perforated texture.",
+    "Grab the pink toycar with white bumper and put it into the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with shiny black tires and drop in the medium-sized basket with perforated texture.",
+    "Move the compact toycar with shiny black tires to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper and put it in the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with shiny black tires, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the pink toycar with white bumper, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with shiny black tires and place into the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode12.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..b789b715e02c9cb816f4e235028e9dfe0012b65a
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the playingcards box with white accents, then use the left arm for the woven basket.",
+    "Grab the yellow and red playingcards box and drop it in the light brown oval basket.",
+    "Use one arm to place the red and yellow playingcards case in the basket made of woven wood.",
+    "Grab the playingcards box with white accents, drop it in the basket with handle, shift the basket with handle.",
+    "Grab the red and yellow playingcards case, set it into the oval-shaped basket with woven body.",
+    "Lift the small playingcards pack, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick up the box for playingcards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the compact red playingcards pack into the woven basket and push the woven basket slightly away.",
+    "Set the playingcards box with white accents in the basket with handle, and shift the basket with handle away.",
+    "Move the playingcards storage box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Pick up the playingcards box with white accents and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the red and yellow playingcards case and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the yellow and red playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Take the small playingcards pack, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Use one arm to place the yellow and red playingcards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick up the red playingcards box, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Take the yellow and red playingcards box, put the yellow and red playingcards box into the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to grab the yellow and red playingcards box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Put the playingcards storage box in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the basket with loop handle.",
+    "Grab the smooth playingcards pack, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Lift the compact red playingcards pack, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Grab the box for playingcards, drop it in the basket with handle, then move the basket with handle.",
+    "Pick up the red and yellow playingcards case and set it inside the basket made of woven wood.",
+    "Place the hand-sized playingcards container in the light brown oval basket, then grab the light brown oval basket.",
+    "Put the red playingcards box in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick the yellow and red playingcards box, put it inside the basket with loop handle.",
+    "Use the right arm to grab the compact red playingcards pack, place it in the woven basket, and move the woven basket using the left arm.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Grab the playingcards box with white accents, drop in the brown basket, and move the brown basket.",
+    "Lift the smooth playingcards pack using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Pick the glossy rectangular playingcards box, place it in the light brown oval basket.",
+    "Pick and move the red and yellow playingcards case, then shift the basket for holding items.",
+    "Use the right arm to pick the yellow and red playingcards box, then use the left arm for the woven basket.",
+    "Grab the box for playingcards and drop it in the smooth ribbed light brown basket.",
+    "Use one arm to place the box for playingcards in the light brown oval basket.",
+    "Grab the rectangular playingcards case, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the playingcards box with white accents, set it into the wooden basket with curved handle.",
+    "Lift the playingcards storage box, place it into the woven basket, move the woven basket.",
+    "Pick up the playingcards storage box, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Place the red and yellow playingcards case into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the smooth playingcards pack in the basket with handle, and shift the basket with handle away.",
+    "Move the yellow and red playingcards box to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Pick up the playingcards box with white accents and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick the hand-sized playingcards container and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the rectangular playingcards case, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the hand-sized playingcards container, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Use one arm to place the small playingcards pack in the light brown oval basket, adjust the light brown oval basket.",
+    "Pick up the playingcards box with white accents, place it in the woven basket, grab the woven basket.",
+    "Take the red playingcards box, put the red playingcards box into the brown basket, shift the brown basket.",
+    "Use one arm to grab the playingcards storage box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the smooth playingcards pack in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the basket made of woven wood.",
+    "Grab the red and yellow playingcards case, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Lift the playingcards storage box, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Grab the yellow and red playingcards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the rectangular playingcards case and set it inside the basket with handle.",
+    "Place the playingcards storage box in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Put the compact red playingcards pack in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick the small playingcards pack, put it inside the basket for holding items.",
+    "Use the right arm to grab the rectangular playingcards case, place it in the basket with handle, and move the basket with handle using the left arm.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the yellow and red playingcards box, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Lift the yellow and red playingcards box using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Pick the red and yellow playingcards case, place it in the basket with handle.",
+    "Pick and move the compact red playingcards pack, then shift the brown basket with woven ridges.",
+    "Use the right arm to pick the playingcards box with white accents, then use the left arm for the brown basket.",
+    "Grab the box for playingcards and drop it in the basket with loop handle.",
+    "Use one arm to place the compact red playingcards pack in the basket with handle.",
+    "Grab the box for playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white accents, set it into the brown basket with woven ridges.",
+    "Lift the red playingcards box, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick up the rectangular playingcards case, put it in the basket with handle, shift the basket with handle a little.",
+    "Place the box for playingcards into the basket for carrying things and push the basket for carrying things slightly away.",
+    "Set the playingcards storage box in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Move the red and yellow playingcards case to the basket for holding items, then shift the basket for holding items.",
+    "Pick up the box for playingcards and drop it in the woven basket, then move the woven basket.",
+    "Pick the yellow and red playingcards box and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Pick the red and yellow playingcards case, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the box for playingcards, set it in the basket with loop handle, shift the basket with loop handle lightly.",
+    "Use one arm to place the small playingcards pack in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick up the smooth playingcards pack, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Take the compact red playingcards pack, put the compact red playingcards pack into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the small playingcards pack, place it in the basket with handle, then move the basket with handle.",
+    "Put the hand-sized playingcards container in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the small playingcards pack with one arm, drop the small playingcards pack in the brown basket with woven ridges.",
+    "Grab the red and yellow playingcards case, place it in the woven basket, then move the woven basket away.",
+    "Lift the red and yellow playingcards case, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Grab the rectangular playingcards case, drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the rectangular playingcards case and set it inside the basket with handle.",
+    "Place the glossy rectangular playingcards box in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Put the red and yellow playingcards case in the woven basket and pull the woven basket away.",
+    "Pick the yellow and red playingcards box, put it inside the brown basket.",
+    "Use the right arm to grab the yellow and red playingcards box, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Pick the playingcards storage box, drop the playingcards storage box in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Grab the playingcards box with white accents, drop in the brown basket, and move the brown basket.",
+    "Lift the small playingcards pack using the right arm, drop it in the brown basket, then push the brown basket via the left arm.",
+    "Pick the playingcards box with white accents, place it in the basket with handle.",
+    "Pick and move the compact red playingcards pack, then shift the basket made of woven wood.",
+    "Use the right arm to pick the small playingcards pack, then use the left arm for the woven basket."
+  ],
+  "unseen": [
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the basket with rounded edges and move it.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode13.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba1aa4607fb43061888110878d733c3d4994f93a
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick and move the small playingcards container, then shift the plastic basket.",
+    "Use one arm to place the blue playingcards box in the basket with arched black grip.",
+    "Pick the smooth playingcards holder and position it in the yellow basket, move the yellow basket slightly.",
+    "Pick the card box with golden designs, drop the card box with golden designs in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the yellow basket for carrying stuff.",
+    "Grab the blue and white playingcards packaging, drop it in the handheld basket, then move the handheld basket.",
+    "Pick up the small playingcards container and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the playingcards pack with blue top, drop it in the basket with black handle, shift the basket with black handle.",
+    "Use one arm to place the blue and white playingcards packaging in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Lift the small playingcards container using the right arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the left arm.",
+    "Put the playingcards pack with blue top in the basket with perforated sides and pull the basket with perforated sides away.",
+    "Use the right arm to pick the card box with golden designs, then use the left arm for the plastic basket.",
+    "Set the playingcards box with white symbols in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Take the blue playingcards box, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the smooth playingcards holder, drop in the basket with perforated sides, and move the basket with perforated sides.",
+    "Move the small playingcards container to the basket with black handle, then shift the basket with black handle.",
+    "Use the right arm to grab the blue pack holding playingcards, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the left arm.",
+    "Pick the rectangular blue playingcards case, put it inside the rectangular basket with smooth surface.",
+    "Pick up the box of playingcards, put it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle a little.",
+    "Place the palm-sized playingcards carton in the bright yellow basket, then grab the bright yellow basket.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the box of playingcards, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Lift the rectangular blue playingcards case, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white symbols and drop it in the carrying basket with black plastic handle.",
+    "Place the blue carton for playingcards into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Pick up the palm-sized playingcards carton and set it inside the handheld basket.",
+    "Pick the smooth playingcards holder, place it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick the small playingcards container, place it in the basket with black handle.",
+    "Put the smooth playingcards holder in the plastic basket, then move the plastic basket away slightly.",
+    "Use one arm to grab the smooth playingcards holder, place it in the basket with black handle, then move the basket with black handle.",
+    "Lift the playingcards pack with blue top, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized playingcards carton, set it into the rectangular yellow basket.",
+    "Grab the playingcards pack with blue top, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick and move the blue playingcards box, then shift the yellow basket.",
+    "Use one arm to place the blue playingcards box in the yellow basket for carrying stuff.",
+    "Pick the playingcards pack with blue top and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket with arched black grip, slide the basket with arched black grip lightly.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the rectangular basket with smooth surface.",
+    "Grab the playingcards box with white symbols, drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with black handle, then move the basket with black handle.",
+    "Grab the card box with golden designs, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Use one arm to place the card box with golden designs in the handheld basket, adjust the handheld basket.",
+    "Lift the blue pack holding playingcards using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Put the blue carton for playingcards in the handheld basket and pull the handheld basket away.",
+    "Use the right arm to pick the playingcards box with white symbols, then use the left arm for the basket with perforated sides.",
+    "Set the playingcards pack with blue top in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Take the blue and white playingcards packaging, set it in the yellow basket, shift the yellow basket lightly.",
+    "Grab the playingcards box with white symbols, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Move the card box with golden designs to the bright yellow basket, then shift the bright yellow basket.",
+    "Use the right arm to grab the blue and white playingcards packaging, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Pick the rectangular blue playingcards case, put it inside the basket with arched black grip.",
+    "Pick up the palm-sized playingcards carton, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Place the box of playingcards in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Take the blue playingcards box, put the blue playingcards box into the bright yellow basket, shift the bright yellow basket.",
+    "Pick up the playingcards box with white symbols, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Lift the smooth playingcards holder, place it into the plastic basket, move the plastic basket.",
+    "Grab the blue pack holding playingcards and drop it in the yellow basket for carrying stuff.",
+    "Place the playingcards pack with blue top into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Pick up the blue carton for playingcards and set it inside the rectangular yellow basket.",
+    "Pick the palm-sized playingcards carton, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the playingcards box with white symbols, place it in the rectangular yellow basket.",
+    "Put the playingcards box with white symbols in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the yellow basket, then move the yellow basket.",
+    "Lift the small playingcards container, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the blue playingcards box, set it into the rectangular basket with smooth surface.",
+    "Grab the box of playingcards, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Pick and move the blue and white playingcards packaging, then shift the handheld basket.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with arched black grip.",
+    "Pick the blue pack holding playingcards and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the plastic basket, slide the plastic basket lightly.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the yellow basket.",
+    "Grab the smooth playingcards holder, drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick up the smooth playingcards holder and drop it in the yellow basket, then move the yellow basket.",
+    "Grab the playingcards pack with blue top, drop it in the yellow basket, shift the yellow basket.",
+    "Use one arm to place the playingcards box with white symbols in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Lift the blue and white playingcards packaging using the right arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the left arm.",
+    "Put the playingcards box with white symbols in the rectangular basket with smooth surface and pull the rectangular basket with smooth surface away.",
+    "Use the right arm to pick the small playingcards container, then use the left arm for the basket with black handle.",
+    "Set the blue pack holding playingcards in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Take the rectangular blue playingcards case, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Grab the playingcards pack with blue top, drop in the handheld basket, and move the handheld basket.",
+    "Move the palm-sized playingcards carton to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Use the right arm to grab the card box with golden designs, place it in the plastic basket, and move the plastic basket using the left arm.",
+    "Pick the card box with golden designs, put it inside the yellow basket for carrying stuff.",
+    "Pick up the small playingcards container, put it in the handheld basket, shift the handheld basket a little.",
+    "Place the small playingcards container in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket with arched black grip, shift the basket with arched black grip.",
+    "Pick up the blue and white playingcards packaging, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Lift the blue and white playingcards packaging, place it into the basket with black handle, move the basket with black handle.",
+    "Grab the blue playingcards box and drop it in the basket with perforated sides.",
+    "Place the playingcards box with white symbols into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Pick up the blue pack holding playingcards and set it inside the handheld basket.",
+    "Pick the blue carton for playingcards, place it in the basket with black handle, shift the basket with black handle.",
+    "Pick the card box with golden designs, place it in the basket with perforated sides.",
+    "Put the smooth playingcards holder in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Use one arm to grab the box of playingcards, place it in the basket with black handle, then move the basket with black handle.",
+    "Lift the blue and white playingcards packaging, drop it in the yellow basket, then slightly relocate the yellow basket.",
+    "Grab the blue playingcards box, set it into the plastic basket.",
+    "Grab the blue pack holding playingcards, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Pick and move the smooth playingcards holder, then shift the basket with arched black grip."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Grab the small packet of playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the small packet of playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and place into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Place the small packet of playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium-sized basket with perforated texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Place the small packet of playingcards in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the small packet of playingcards and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and place into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Grab the rectangular playingcards pack and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and place into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and put it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the small packet of playingcards and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the medium-sized basket with perforated texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Grab the small packet of playingcards and put it into the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode14.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..589868ef76bf7c7c0681616ff4f85b871a7e6fc3
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the green toycar, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the playful green toycar and drop it in the basket with arched black grip.",
+    "Use the right arm to pick the smooth green toycar, then use the left arm for the basket with black handle.",
+    "Pick and move the smooth green toycar, then shift the medium yellow basket with slots.",
+    "Set the smooth green toycar in the basket with black handle, and shift the basket with black handle away.",
+    "Pick up the smooth green toycar and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the small plastic green toycar, set it into the rectangular basket with smooth surface.",
+    "Place the green toycar made from plastic into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Pick up the small plastic green toycar and set it inside the plastic basket.",
+    "Move the small green toycar to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Pick the playful green toycar and position it in the basket with perforated sides, move the basket with perforated sides slightly.",
+    "Lift the small green toycar, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Put the miniature bright green toycar in the yellow basket for carrying stuff and pull the yellow basket for carrying stuff away.",
+    "Pick up the small green toycar, place it in the plastic basket, grab the plastic basket.",
+    "Pick the green toycar, drop the green toycar in the basket with black handle, slide the basket with black handle lightly.",
+    "Pick the shiny green toycar, put it inside the medium yellow basket with slots.",
+    "Use one arm to place the miniature bright green toycar in the rectangular basket with smooth surface, adjust the rectangular basket with smooth surface.",
+    "Use one arm to place the smooth green toycar in the handheld basket.",
+    "Put the tiny green toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Take the toycar with black roof and wheels, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the shiny green toycar, place it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Place the shiny green toycar in the rectangular basket with smooth surface, then grab the rectangular basket with smooth surface.",
+    "Grab the miniature bright green toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the playful green toycar, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the green toycar, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Pick the toycar with black roof and wheels, place it in the plastic basket.",
+    "Use the right arm to grab the toycar with black roof and wheels, place it in the plastic basket, and move the plastic basket using the left arm.",
+    "Lift the green toycar made from plastic using the right arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the left arm.",
+    "Grab the green toycar, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Pick up the miniature bright green toycar, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Take the playful green toycar, put the playful green toycar into the basket with black handle, shift the basket with black handle.",
+    "Grab the shiny green toycar with one arm, drop the shiny green toycar in the carrying basket with black plastic handle.",
+    "Grab the miniature bright green toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Grab the toycar with black wheels and drop it in the basket with arched black grip.",
+    "Use the right arm to pick the small plastic green toycar, then use the left arm for the plastic basket.",
+    "Pick and move the small plastic green toycar, then shift the bright yellow basket.",
+    "Set the miniature bright green toycar in the rectangular basket with smooth surface, and shift the rectangular basket with smooth surface away.",
+    "Pick up the toycar with black roof and wheels and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Grab the smooth green toycar, set it into the plastic basket.",
+    "Place the green toycar made from plastic into the rectangular yellow basket and push the rectangular yellow basket slightly away.",
+    "Pick up the toycar with black roof and wheels and set it inside the basket with perforated sides.",
+    "Move the toycar with black roof and wheels to the plastic basket, then shift the plastic basket.",
+    "Pick the toycar with black wheels and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Lift the playful green toycar, place it into the yellow basket for carrying stuff, move the yellow basket for carrying stuff.",
+    "Put the toycar with black wheels in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the small green toycar, place it in the basket with black handle, grab the basket with black handle.",
+    "Pick the small green toycar, drop the small green toycar in the rectangular yellow basket, slide the rectangular yellow basket lightly.",
+    "Pick the shiny green toycar, put it inside the bright yellow basket.",
+    "Use one arm to place the tiny green toycar in the handheld basket, adjust the handheld basket.",
+    "Use one arm to place the shiny green toycar in the plastic basket.",
+    "Put the small green toycar in the basket with black handle, then move the basket with black handle away slightly.",
+    "Take the green toycar made from plastic, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the green toycar made from plastic, place it in the yellow basket, shift the yellow basket.",
+    "Place the green toycar made from plastic in the handheld basket, then grab the handheld basket.",
+    "Grab the toycar with black wheels, drop it in the yellow basket, then move the yellow basket.",
+    "Lift the miniature bright green toycar, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Grab the miniature bright green toycar, drop it in the yellow basket, shift the yellow basket.",
+    "Use one arm to grab the shiny green toycar, place it in the plastic basket, then move the plastic basket.",
+    "Pick the small green toycar, place it in the yellow basket for carrying stuff.",
+    "Use the right arm to grab the small plastic green toycar, place it in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle using the left arm.",
+    "Lift the small plastic green toycar using the right arm, drop it in the basket with black handle, then push the basket with black handle via the left arm.",
+    "Grab the toycar with black wheels, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff.",
+    "Pick up the toycar with black roof and wheels, put it in the handheld basket, shift the handheld basket a little.",
+    "Take the smooth green toycar, put the smooth green toycar into the handheld basket, shift the handheld basket.",
+    "Grab the green toycar with one arm, drop the green toycar in the carrying basket with black plastic handle.",
+    "Grab the smooth green toycar, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Grab the toycar with black roof and wheels and drop it in the yellow basket.",
+    "Use the right arm to pick the small green toycar, then use the left arm for the basket with perforated sides.",
+    "Pick and move the small plastic green toycar, then shift the basket with arched black grip.",
+    "Set the small green toycar in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Pick up the small plastic green toycar and drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Grab the small green toycar, set it into the rectangular yellow basket.",
+    "Place the green toycar into the handheld basket and push the handheld basket slightly away.",
+    "Pick up the smooth green toycar and set it inside the yellow basket for carrying stuff.",
+    "Move the shiny green toycar to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Pick the green toycar and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Lift the green toycar made from plastic, place it into the plastic basket, move the plastic basket.",
+    "Put the green car-shaped toycar in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the shiny green toycar, place it in the bright yellow basket, grab the bright yellow basket.",
+    "Pick the small green toycar, drop the small green toycar in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Pick the tiny green toycar, put it inside the yellow basket.",
+    "Use one arm to place the small plastic green toycar in the handheld basket, adjust the handheld basket.",
+    "Use one arm to place the small green toycar in the basket with perforated sides.",
+    "Put the small plastic green toycar in the basket with perforated sides, then move the basket with perforated sides away slightly.",
+    "Take the small plastic green toycar, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the smooth green toycar, place it in the handheld basket, shift the handheld basket.",
+    "Place the toycar with black roof and wheels in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Grab the green car-shaped toycar, drop it in the plastic basket, then move the plastic basket.",
+    "Lift the green toycar made from plastic, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Grab the green toycar made from plastic, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Use one arm to grab the toycar with black roof and wheels, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Pick the toycar with black roof and wheels, place it in the basket with arched black grip.",
+    "Use the right arm to grab the playful green toycar, place it in the bright yellow basket, and move the bright yellow basket using the left arm.",
+    "Lift the miniature bright green toycar using the right arm, drop it in the basket with black handle, then push the basket with black handle via the left arm.",
+    "Grab the shiny green toycar, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Pick up the miniature bright green toycar, put it in the yellow basket, shift the yellow basket a little.",
+    "Take the green car-shaped toycar, put the green car-shaped toycar into the handheld basket, shift the handheld basket.",
+    "Grab the small green toycar with one arm, drop the small green toycar in the rectangular basket with smooth surface.",
+    "Grab the small green toycar, place it in the plastic basket, then move the plastic basket away."
+  ],
+  "unseen": [
+    "Pick up the bright green toycar and drop in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded edges in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the yellow basket with open slots.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Grab the plastic toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the toycar with rounded edges to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the bright green toycar and drop in the yellow basket with open slots.",
+    "Place the toycar with rounded edges in the medium-sized basket with perforated texture and move it.",
+    "Grab the bright green toycar and put it in the yellow rectangular basket with dual grips.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the plastic toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the toycar with rounded edges and put it in the yellow basket with open slots.",
+    "Move the toycar with rounded edges to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the plastic toycar and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the medium-sized basket with perforated texture and move it.",
+    "Grab the bright green toycar and put it in the medium-sized basket with perforated texture.",
+    "Move the toycar with rounded edges to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the plastic toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it into the medium-sized basket with perforated texture.",
+    "Grab the bright green toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the yellow basket with open slots.",
+    "Place the toycar with rounded edges in the yellow basket with open slots and move it.",
+    "Grab the bright green toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the plastic toycar and place into the yellow basket with open slots.",
+    "Use one arm to grab the bright green toycar, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the plastic toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the bright green toycar, place it in the yellow basket with open slots.",
+    "Pick up the plastic toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the toycar with rounded edges and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it in the yellow rectangular basket with dual grips.",
+    "Move the toycar with rounded edges to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and place into the yellow basket with open slots.",
+    "Use one arm to grab the plastic toycar, place it in the medium-sized basket with perforated texture.",
+    "Pick up the plastic toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the bright green toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded edges and drop in the yellow rectangular basket with dual grips.",
+    "Place the bright green toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Move the plastic toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the bright green toycar and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the yellow basket with open slots.",
+    "Pick up the bright green toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the plastic toycar and put it into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Pick up the bright green toycar and drop in the yellow basket with open slots.",
+    "Place the plastic toycar in the yellow basket with open slots and move it.",
+    "Grab the toycar with rounded edges and put it in the medium-sized basket with perforated texture.",
+    "Move the bright green toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges and place into the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded edges and put it into the yellow basket with open slots.",
+    "Grab the plastic toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the toycar with rounded edges and drop in the medium-sized basket with perforated texture.",
+    "Place the toycar with rounded edges in the yellow rectangular basket with dual grips and move it.",
+    "Grab the plastic toycar and put it in the yellow basket with open slots.",
+    "Move the bright green toycar to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Grab the plastic toycar and place into the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded edges, place it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded edges, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the bright green toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded edges, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Pick up the plastic toycar and drop in the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode15.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8932cf545ce0b2e1254180eb49742e2feadf378
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to place the small playingcards pack in the brown basket with woven ridges.",
+    "Place the red and yellow playingcards case in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick up the rectangular playingcards case, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Grab the box for playingcards, drop it in the brown basket, then move the brown basket.",
+    "Pick the yellow and red playingcards box, place it in the wooden basket with curved handle.",
+    "Pick up the red playingcards box and set it inside the basket for carrying things.",
+    "Grab the rectangular playingcards case, set it into the woven basket.",
+    "Use one arm to place the red and yellow playingcards case in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Pick the rectangular playingcards case and position it in the woven basket, move the woven basket slightly.",
+    "Pick up the red and yellow playingcards case and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the playingcards storage box, place it in the basket for holding items, grab the basket for holding items.",
+    "Pick the playingcards box with white accents, put it inside the wooden basket with curved handle.",
+    "Grab the playingcards storage box, drop in the basket with handle, and move the basket with handle.",
+    "Pick the small playingcards pack, place it in the woven basket, shift the woven basket.",
+    "Lift the compact red playingcards pack, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Move the hand-sized playingcards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use the left arm to pick the red playingcards box, then use the right arm for the basket for carrying things.",
+    "Use the left arm to grab the yellow and red playingcards box, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Put the red and yellow playingcards case in the basket with handle, then move the basket with handle away slightly.",
+    "Grab the rectangular playingcards case with one arm, drop the rectangular playingcards case in the smooth ribbed light brown basket.",
+    "Grab the red playingcards box and drop it in the basket made of woven wood.",
+    "Take the box for playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Put the hand-sized playingcards container in the basket for carrying things and pull the basket for carrying things away.",
+    "Grab the yellow and red playingcards box, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Grab the glossy rectangular playingcards box, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the playingcards storage box into the basket for holding items and push the basket for holding items slightly away.",
+    "Take the red playingcards box, put the red playingcards box into the light brown oval basket, shift the light brown oval basket.",
+    "Lift the glossy rectangular playingcards box using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Pick and move the glossy rectangular playingcards box, then shift the basket with handle.",
+    "Lift the smooth playingcards pack, place it into the basket for holding items, move the basket for holding items.",
+    "Use one arm to grab the hand-sized playingcards container, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Set the smooth playingcards pack in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use one arm to place the playingcards box with white accents in the wooden basket with curved handle.",
+    "Place the hand-sized playingcards container in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick up the compact red playingcards pack, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the hand-sized playingcards container, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick the box for playingcards, place it in the basket for holding items.",
+    "Pick up the playingcards box with white accents and set it inside the basket with loop handle.",
+    "Grab the red playingcards box, set it into the basket with loop handle.",
+    "Use one arm to place the box for playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Pick the box for playingcards and position it in the brown basket, move the brown basket slightly.",
+    "Pick up the box for playingcards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the compact red playingcards pack, place it in the brown basket, grab the brown basket.",
+    "Pick the smooth playingcards pack, put it inside the basket for holding items.",
+    "Grab the hand-sized playingcards container, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the playingcards storage box, place it in the brown basket, shift the brown basket.",
+    "Lift the rectangular playingcards case, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Move the playingcards box with white accents to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the basket made of woven wood.",
+    "Use the left arm to grab the red and yellow playingcards case, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Put the playingcards storage box in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the woven basket.",
+    "Grab the compact red playingcards pack and drop it in the basket for carrying things.",
+    "Take the hand-sized playingcards container, set it in the light brown oval basket, shift the light brown oval basket lightly.",
+    "Put the rectangular playingcards case in the basket for holding items and pull the basket for holding items away.",
+    "Grab the small playingcards pack, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the small playingcards pack, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Place the smooth playingcards pack into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Take the smooth playingcards pack, put the smooth playingcards pack into the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the compact red playingcards pack using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Pick and move the smooth playingcards pack, then shift the basket made of woven wood.",
+    "Lift the smooth playingcards pack, place it into the basket with handle, move the basket with handle.",
+    "Use one arm to grab the compact red playingcards pack, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Set the glossy rectangular playingcards box in the basket for holding items, and shift the basket for holding items away.",
+    "Pick the small playingcards pack, drop the small playingcards pack in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use one arm to place the compact red playingcards pack in the basket made of woven wood.",
+    "Place the red and yellow playingcards case in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick up the yellow and red playingcards box, put it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket a little.",
+    "Grab the red playingcards box, drop it in the woven basket, then move the woven basket.",
+    "Pick the glossy rectangular playingcards box, place it in the basket made of woven wood.",
+    "Pick up the red playingcards box and set it inside the basket for carrying things.",
+    "Grab the red and yellow playingcards case, set it into the woven basket.",
+    "Use one arm to place the rectangular playingcards case in the brown basket, adjust the brown basket.",
+    "Pick the small playingcards pack and position it in the basket for holding items, move the basket for holding items slightly.",
+    "Pick up the glossy rectangular playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Pick up the glossy rectangular playingcards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick the small playingcards pack, put it inside the basket for holding items.",
+    "Grab the box for playingcards, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick the red and yellow playingcards case, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the playingcards storage box, drop it in the basket made of woven wood, then slightly relocate the basket made of woven wood.",
+    "Move the red playingcards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use the left arm to pick the yellow and red playingcards box, then use the right arm for the smooth ribbed light brown basket.",
+    "Use the left arm to grab the playingcards storage box, place it in the brown basket, and move the brown basket using the right arm.",
+    "Put the rectangular playingcards case in the basket for holding items, then move the basket for holding items away slightly.",
+    "Grab the yellow and red playingcards box with one arm, drop the yellow and red playingcards box in the light brown oval basket.",
+    "Grab the playingcards storage box and drop it in the woven basket.",
+    "Take the glossy rectangular playingcards box, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Put the hand-sized playingcards container in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Grab the compact red playingcards pack, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the playingcards storage box, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Place the compact red playingcards pack into the woven basket and push the woven basket slightly away.",
+    "Take the compact red playingcards pack, put the compact red playingcards pack into the light brown oval basket, shift the light brown oval basket.",
+    "Lift the glossy rectangular playingcards box using the left arm, drop it in the oval-shaped basket with woven body, then push the oval-shaped basket with woven body via the right arm.",
+    "Pick and move the compact red playingcards pack, then shift the smooth ribbed light brown basket.",
+    "Lift the small playingcards pack, place it into the woven basket, move the woven basket.",
+    "Use one arm to grab the glossy rectangular playingcards box, place it in the woven basket, then move the woven basket.",
+    "Set the yellow and red playingcards box in the brown basket, and shift the brown basket away.",
+    "Pick the yellow and red playingcards box, drop the yellow and red playingcards box in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use one arm to place the smooth playingcards pack in the basket with handle."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small box for playingcards, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small box for playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Pick up the rectangular red playingcards holder, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and place into the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the playingcards with red packaging to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it into the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards and place into the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small box for playingcards in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the small box for playingcards and put it in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular red playingcards holder to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode16.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39dfbc46caf10113770a01228ecac74d6e5b0e8
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket made of woven wood, shift the basket made of woven wood.",
+    "Grab the cardboard playing cards box and drop it in the wooden basket with curved handle.",
+    "Use one arm to grab the rectangle-shaped cards box, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the small black box with cards, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the basket with handle.",
+    "Take the box holding playing cards, set it in the woven basket, shift the woven basket lightly.",
+    "Move the rectangle-shaped cards box to the basket with loop handle, then shift the basket with loop handle.",
+    "Lift the small black box with cards using the right arm, drop it in the basket for holding items, then push the basket for holding items via the left arm.",
+    "Pick up the compact box for playing cards, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Pick the box with cards inside, place it in the basket for holding items.",
+    "Pick the small black box with cards, put it inside the basket for carrying things.",
+    "Pick the black playing cards box, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the palm-sized box for playing cards in the woven basket and pull the woven basket away.",
+    "Grab the smooth black cards container, drop it in the brown basket, shift the brown basket.",
+    "Use one arm to place the black box with rectangular shape in the basket with handle.",
+    "Pick up the black box with rectangular shape and set it inside the basket with handle.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket with loop handle.",
+    "Grab the rectangular box for card storage, drop it in the woven basket, then move the woven basket.",
+    "Pick and move the black playing cards box, then shift the brown basket with woven ridges.",
+    "Pick up the rectangular box for card storage and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the smooth black cards container in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Pick the box with cards inside, drop the box with cards inside in the brown basket, slide the brown basket lightly.",
+    "Lift the palm-sized box for playing cards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the playing cards box with gold text, place it in the basket for holding items, then move the basket for holding items away.",
+    "Place the playing cards box with gold text into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Set the playing cards box with gold text in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Pick up the playing cards box with gold text, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Place the rectangle-shaped cards box in the woven basket, then grab the woven basket.",
+    "Use one arm to place the palm-sized box for playing cards in the basket for holding items, adjust the basket for holding items.",
+    "Use the right arm to grab the cardboard playing cards box, place it in the basket with handle, and move the basket with handle using the left arm.",
+    "Grab the smooth black cards container, set it into the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Pick the box with cards inside and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Take the box holding playing cards, put the box holding playing cards into the basket with handle, shift the basket with handle.",
+    "Grab the smooth black cards container and drop it in the wooden basket with curved handle.",
+    "Use one arm to grab the box with cards inside, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Lift the playing cards box with gold text, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Use the right arm to pick the compact box for playing cards, then use the left arm for the brown basket with woven ridges.",
+    "Take the rectangular box for card storage, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Move the playing cards box with gold text to the light brown oval basket, then shift the light brown oval basket.",
+    "Lift the rectangle-shaped cards box using the right arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the left arm.",
+    "Pick up the cardboard playing cards box, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick the compact box for playing cards, place it in the basket with handle.",
+    "Pick the small black box with cards, put it inside the woven basket.",
+    "Pick the palm-sized box for playing cards, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the black box with rectangular shape in the woven basket and pull the woven basket away.",
+    "Grab the smooth black cards container, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the compact box for playing cards in the basket for carrying things.",
+    "Pick up the small black box with cards and set it inside the smooth ribbed light brown basket.",
+    "Grab the playing cards box with gold text with one arm, drop the playing cards box with gold text in the light brown oval basket.",
+    "Grab the rectangular box for card storage, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the small black box with cards, then shift the brown basket with woven ridges.",
+    "Pick up the small black box with cards and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Put the playing cards box with gold text in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick the compact box for playing cards, drop the compact box for playing cards in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Lift the small black box with cards, place it into the light brown oval basket, move the light brown oval basket.",
+    "Grab the small black box with cards, place it in the woven basket, then move the woven basket away.",
+    "Place the box with cards inside into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Set the box with cards inside in the basket with loop handle, and shift the basket with loop handle away.",
+    "Pick up the compact box for playing cards, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Place the rectangle-shaped cards box in the basket for carrying things, then grab the basket for carrying things.",
+    "Use one arm to place the box holding playing cards in the brown basket, adjust the brown basket.",
+    "Use the right arm to grab the rectangular box for card storage, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the left arm.",
+    "Grab the compact box for playing cards, set it into the brown basket with woven ridges.",
+    "Grab the smooth black cards container, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick the cardboard playing cards box and position it in the woven basket, move the woven basket slightly.",
+    "Take the palm-sized box for playing cards, put the palm-sized box for playing cards into the basket with handle, shift the basket with handle.",
+    "Grab the box with cards inside and drop it in the woven basket.",
+    "Use one arm to grab the compact box for playing cards, place it in the woven basket, then move the woven basket.",
+    "Lift the box with cards inside, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Use the right arm to pick the box with cards inside, then use the left arm for the oval-shaped basket with woven body.",
+    "Take the compact box for playing cards, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Move the rectangular box for card storage to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the box with cards inside using the right arm, drop it in the basket for holding items, then push the basket for holding items via the left arm.",
+    "Pick up the playing cards box with gold text, place it in the basket with handle, grab the basket with handle.",
+    "Pick the small black box with cards, place it in the basket with handle.",
+    "Pick the small black box with cards, put it inside the basket for holding items.",
+    "Pick the black playing cards box, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Put the compact box for playing cards in the basket for holding items and pull the basket for holding items away.",
+    "Grab the black playing cards box, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the rectangular box for card storage in the woven basket.",
+    "Pick up the playing cards box with gold text and set it inside the light brown oval basket.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the oval-shaped basket with woven body.",
+    "Grab the box with cards inside, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick and move the palm-sized box for playing cards, then shift the basket for carrying things.",
+    "Pick up the box holding playing cards and drop it in the basket with handle, then move the basket with handle.",
+    "Put the compact box for playing cards in the wooden basket with curved handle, then move the wooden basket with curved handle away slightly.",
+    "Pick the small black box with cards, drop the small black box with cards in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the rectangular box for card storage, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the playing cards box with gold text, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Place the palm-sized box for playing cards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the black box with rectangular shape in the basket with handle, and shift the basket with handle away.",
+    "Pick up the rectangular box for card storage, put it in the basket with handle, shift the basket with handle a little.",
+    "Place the black playing cards box in the basket with loop handle, then grab the basket with loop handle.",
+    "Use one arm to place the smooth black cards container in the brown basket, adjust the brown basket.",
+    "Use the right arm to grab the small black box with cards, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Grab the small black box with cards, set it into the brown basket.",
+    "Grab the cardboard playing cards box, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the black playing cards box and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Take the smooth black cards container, put the smooth black cards container into the basket for carrying things, shift the basket for carrying things."
+  ],
+  "unseen": [
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the black box with smooth surface to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and place into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the basket with rounded edges.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Place the gold text on playing cards box in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Pick up the black box with smooth surface, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and put it in the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode17.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7ff59defe6ff1384702a42e5591d9023e0a0ba
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the playingcards box with white symbols using the left arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the right arm.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with arched black grip.",
+    "Set the blue and white playingcards packaging in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the small playingcards container, place it in the medium yellow basket with slots, shift the medium yellow basket with slots.",
+    "Lift the playingcards pack with blue top, place it into the bright yellow basket, move the bright yellow basket.",
+    "Lift the blue carton for playingcards, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized playingcards carton, drop it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface.",
+    "Pick up the blue playingcards box and set it inside the plastic basket.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the plastic basket, then move the plastic basket.",
+    "Grab the blue and white playingcards packaging, set it into the medium yellow basket with slots.",
+    "Pick and move the rectangular blue playingcards case, then shift the medium yellow basket with slots.",
+    "Pick the blue pack holding playingcards and position it in the yellow basket, move the yellow basket slightly.",
+    "Move the box of playingcards to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the blue carton for playingcards and drop it in the plastic basket.",
+    "Pick the palm-sized playingcards carton, place it in the basket with perforated sides.",
+    "Put the blue pack holding playingcards in the yellow basket, then move the yellow basket away slightly.",
+    "Use the left arm to grab the card box with golden designs, place it in the bright yellow basket, and move the bright yellow basket using the right arm.",
+    "Grab the box of playingcards, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Pick the box of playingcards, drop the box of playingcards in the yellow basket, slide the yellow basket lightly.",
+    "Put the playingcards box with white symbols in the handheld basket and pull the handheld basket away.",
+    "Place the box of playingcards in the rectangular yellow basket, then grab the rectangular yellow basket.",
+    "Pick up the small playingcards container and drop it in the basket with black handle, then move the basket with black handle.",
+    "Use one arm to place the blue and white playingcards packaging in the handheld basket, adjust the handheld basket.",
+    "Grab the playingcards box with white symbols, drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Place the rectangular blue playingcards case into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the medium yellow basket with slots.",
+    "Grab the playingcards box with white symbols with one arm, drop the playingcards box with white symbols in the basket with perforated sides.",
+    "Grab the blue playingcards box, drop in the plastic basket, and move the plastic basket.",
+    "Take the playingcards pack with blue top, put the playingcards pack with blue top into the basket with black handle, shift the basket with black handle.",
+    "Take the playingcards box with white symbols, set it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff lightly.",
+    "Pick up the blue and white playingcards packaging, place it in the yellow basket, grab the yellow basket.",
+    "Pick up the box of playingcards, put it in the basket with arched black grip, shift the basket with arched black grip a little.",
+    "Pick the blue carton for playingcards, put it inside the bright yellow basket.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the basket with perforated sides, then push the basket with perforated sides via the right arm.",
+    "Use one arm to place the smooth playingcards holder in the rectangular yellow basket.",
+    "Set the rectangular blue playingcards case in the bright yellow basket, and shift the bright yellow basket away.",
+    "Pick the playingcards pack with blue top, place it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Lift the blue playingcards box, place it into the rectangular yellow basket, move the rectangular yellow basket.",
+    "Lift the rectangular blue playingcards case, drop it in the plastic basket, then slightly relocate the plastic basket.",
+    "Grab the blue carton for playingcards, drop it in the plastic basket, shift the plastic basket.",
+    "Pick up the blue pack holding playingcards and set it inside the basket with black handle.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the yellow basket, then move the yellow basket.",
+    "Grab the box of playingcards, set it into the basket with arched black grip.",
+    "Pick and move the card box with golden designs, then shift the basket with arched black grip.",
+    "Pick the blue pack holding playingcards and position it in the carrying basket with black plastic handle, move the carrying basket with black plastic handle slightly.",
+    "Move the playingcards box with white symbols to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Grab the palm-sized playingcards carton and drop it in the yellow basket for carrying stuff.",
+    "Pick the blue carton for playingcards, place it in the rectangular basket with smooth surface.",
+    "Put the playingcards pack with blue top in the basket with black handle, then move the basket with black handle away slightly.",
+    "Use the left arm to grab the playingcards pack with blue top, place it in the rectangular yellow basket, and move the rectangular yellow basket using the right arm.",
+    "Grab the card box with golden designs, place it in the basket with arched black grip, then move the basket with arched black grip away.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the carrying basket with black plastic handle, slide the carrying basket with black plastic handle lightly.",
+    "Put the blue and white playingcards packaging in the medium yellow basket with slots and pull the medium yellow basket with slots away.",
+    "Place the blue carton for playingcards in the handheld basket, then grab the handheld basket.",
+    "Pick up the palm-sized playingcards carton and drop it in the handheld basket, then move the handheld basket.",
+    "Use one arm to place the small playingcards container in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Grab the card box with golden designs, drop it in the basket with arched black grip, then move the basket with arched black grip.",
+    "Place the box of playingcards into the medium yellow basket with slots and push the medium yellow basket with slots slightly away.",
+    "Use the left arm to pick the smooth playingcards holder, then use the right arm for the basket with perforated sides.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the medium yellow basket with slots.",
+    "Grab the small playingcards container, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket with black handle, shift the basket with black handle.",
+    "Take the playingcards box with white symbols, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick up the playingcards pack with blue top, place it in the yellow basket for carrying stuff, grab the yellow basket for carrying stuff.",
+    "Pick up the blue carton for playingcards, put it in the basket with black handle, shift the basket with black handle a little.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with black handle.",
+    "Lift the rectangular blue playingcards case using the left arm, drop it in the basket with arched black grip, then push the basket with arched black grip via the right arm.",
+    "Use one arm to place the palm-sized playingcards carton in the carrying basket with black plastic handle.",
+    "Set the blue carton for playingcards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Pick the smooth playingcards holder, place it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Lift the small playingcards container, place it into the basket with perforated sides, move the basket with perforated sides.",
+    "Lift the blue carton for playingcards, drop it in the medium yellow basket with slots, then slightly relocate the medium yellow basket with slots.",
+    "Grab the small playingcards container, drop it in the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick up the playingcards pack with blue top and set it inside the yellow basket.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Grab the rectangular blue playingcards case, set it into the basket with perforated sides.",
+    "Pick and move the smooth playingcards holder, then shift the yellow basket.",
+    "Pick the playingcards box with white symbols and position it in the handheld basket, move the handheld basket slightly.",
+    "Move the blue playingcards box to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the box of playingcards and drop it in the bright yellow basket.",
+    "Pick the blue carton for playingcards, place it in the medium yellow basket with slots.",
+    "Put the blue and white playingcards packaging in the yellow basket, then move the yellow basket away slightly.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket with arched black grip, and move the basket with arched black grip using the right arm.",
+    "Grab the blue and white playingcards packaging, place it in the carrying basket with black plastic handle, then move the carrying basket with black plastic handle away.",
+    "Pick the box of playingcards, drop the box of playingcards in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Put the smooth playingcards holder in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Place the blue pack holding playingcards in the carrying basket with black plastic handle, then grab the carrying basket with black plastic handle.",
+    "Pick up the rectangular blue playingcards case and drop it in the yellow basket, then move the yellow basket.",
+    "Use one arm to place the playingcards pack with blue top in the handheld basket, adjust the handheld basket.",
+    "Grab the card box with golden designs, drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Place the playingcards pack with blue top into the rectangular basket with smooth surface and push the rectangular basket with smooth surface slightly away.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the handheld basket.",
+    "Grab the small playingcards container with one arm, drop the small playingcards container in the yellow basket for carrying stuff.",
+    "Grab the palm-sized playingcards carton, drop in the carrying basket with black plastic handle, and move the carrying basket with black plastic handle.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the yellow basket, shift the yellow basket.",
+    "Take the blue pack holding playingcards, set it in the basket with black handle, shift the basket with black handle lightly.",
+    "Pick up the blue carton for playingcards, place it in the basket with black handle, grab the basket with black handle.",
+    "Pick up the blue carton for playingcards, put it in the handheld basket, shift the handheld basket a little.",
+    "Pick the blue playingcards box, put it inside the handheld basket.",
+    "Lift the playingcards box with white symbols using the left arm, drop it in the rectangular basket with smooth surface, then push the rectangular basket with smooth surface via the right arm."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it in the yellow basket with open slots.",
+    "Place the small packet of playingcards in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and place into the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it in the yellow basket with open slots.",
+    "Place the small packet of playingcards in the yellow basket with open slots and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Pick up the small packet of playingcards, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards pack to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack and drop in the yellow basket with open slots.",
+    "Grab the small packet of playingcards and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and place into the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the small packet of playingcards and put it in the yellow rectangular basket with dual grips.",
+    "Place the small packet of playingcards in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the small packet of playingcards and drop in the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small packet of playingcards and put it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards case with patterns in the yellow basket with open slots and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the small packet of playingcards, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns and drop in the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium-sized basket with perforated texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Move the small packet of playingcards to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow basket with open slots.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Move the rectangular playingcards pack to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium-sized basket with perforated texture.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns and place into the yellow basket with open slots.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the small packet of playingcards and drop in the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards pack, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the small packet of playingcards and place into the yellow rectangular basket with dual grips.",
+    "Move the rectangular playingcards case with patterns to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the small packet of playingcards and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards pack and put it into the yellow basket with open slots.",
+    "Grab the rectangular playingcards case with patterns, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it in the yellow rectangular basket with dual grips.",
+    "Place the rectangular playingcards case with patterns in the medium-sized basket with perforated texture and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the rectangular playingcards case with patterns, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and place into the medium-sized basket with perforated texture.",
+    "Move the rectangular playingcards case with patterns to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the small packet of playingcards and drop in the medium-sized basket with perforated texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium-sized basket with perforated texture.",
+    "Grab the small packet of playingcards, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the rectangular playingcards pack and put it in the yellow basket with open slots.",
+    "Place the rectangular playingcards pack in the yellow rectangular basket with dual grips and move it.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium-sized basket with perforated texture.",
+    "Pick up the small packet of playingcards, place it in the yellow basket with open slots, move the yellow basket with open slots."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode18.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f67367a16db130af55b940079eb64c5f426d2ab
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the box holding playing cards into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Grab the playing cards box with gold text, drop it in the basket for holding items, shift the basket for holding items.",
+    "Place the smooth black cards container in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick up the box with cards inside and set it inside the basket with loop handle.",
+    "Take the black playing cards box, put the black playing cards box into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the brown basket.",
+    "Grab the small black box with cards, place it in the brown basket, then move the brown basket away.",
+    "Lift the playing cards box with gold text, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick up the box holding playing cards and drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Use the left arm to pick the rectangular box for card storage, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick the cardboard playing cards box, place it in the basket for holding items.",
+    "Pick up the black playing cards box, put it in the basket for carrying things, shift the basket for carrying things a little.",
+    "Pick and move the rectangle-shaped cards box, then shift the oval-shaped basket with woven body.",
+    "Pick the black box with rectangular shape, place it in the light brown oval basket, shift the light brown oval basket.",
+    "Grab the cardboard playing cards box and drop it in the oval-shaped basket with woven body.",
+    "Pick the playing cards box with gold text and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the black playing cards box, drop the black playing cards box in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Use one arm to grab the black box with rectangular shape, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the playing cards box with gold text, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the black box with rectangular shape, set it into the basket made of woven wood.",
+    "Use one arm to place the small black box with cards in the basket for carrying things.",
+    "Grab the palm-sized box for playing cards, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Lift the compact box for playing cards, place it into the basket with handle, move the basket with handle.",
+    "Pick the small black box with cards, put it inside the basket with handle.",
+    "Move the cardboard playing cards box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Put the compact box for playing cards in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use the left arm to grab the rectangular box for card storage, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Take the box holding playing cards, set it in the brown basket, shift the brown basket lightly.",
+    "Grab the rectangle-shaped cards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Lift the box holding playing cards using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the black playing cards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Put the black playing cards box in the basket for carrying things and pull the basket for carrying things away.",
+    "Set the compact box for playing cards in the wooden basket with curved handle, and shift the wooden basket with curved handle away.",
+    "Place the compact box for playing cards into the basket with handle and push the basket with handle slightly away.",
+    "Grab the black playing cards box, drop it in the brown basket, shift the brown basket.",
+    "Place the black playing cards box in the light brown oval basket, then grab the light brown oval basket.",
+    "Pick up the box with cards inside and set it inside the basket with handle.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the smooth black cards container with one arm, drop the smooth black cards container in the smooth ribbed light brown basket.",
+    "Grab the box holding playing cards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Lift the small black box with cards, drop it in the basket for carrying things, then slightly relocate the basket for carrying things.",
+    "Pick up the box with cards inside and drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Use the left arm to pick the playing cards box with gold text, then use the right arm for the brown basket with woven ridges.",
+    "Pick the palm-sized box for playing cards, place it in the basket for carrying things.",
+    "Pick up the rectangle-shaped cards box, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick and move the small black box with cards, then shift the basket for carrying things.",
+    "Pick the palm-sized box for playing cards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Grab the black box with rectangular shape and drop it in the smooth ribbed light brown basket.",
+    "Pick the playing cards box with gold text and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the box with cards inside, drop the box with cards inside in the smooth ribbed light brown basket, slide the smooth ribbed light brown basket lightly.",
+    "Use one arm to grab the playing cards box with gold text, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the rectangle-shaped cards box, place it in the brown basket, grab the brown basket.",
+    "Grab the playing cards box with gold text, set it into the smooth ribbed light brown basket.",
+    "Use one arm to place the rectangular box for card storage in the woven basket.",
+    "Grab the box holding playing cards, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Lift the cardboard playing cards box, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Pick the rectangular box for card storage, put it inside the basket made of woven wood.",
+    "Move the smooth black cards container to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Put the palm-sized box for playing cards in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Use the left arm to grab the box holding playing cards, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Take the compact box for playing cards, set it in the wooden basket with curved handle, shift the wooden basket with curved handle lightly.",
+    "Grab the small black box with cards, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Lift the small black box with cards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Use one arm to place the palm-sized box for playing cards in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Put the box holding playing cards in the woven basket and pull the woven basket away.",
+    "Set the palm-sized box for playing cards in the basket for carrying things, and shift the basket for carrying things away.",
+    "Place the black playing cards box into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the box with cards inside, drop it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Place the box holding playing cards in the brown basket, then grab the brown basket.",
+    "Pick up the compact box for playing cards and set it inside the basket with loop handle.",
+    "Take the box holding playing cards, put the box holding playing cards into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Grab the rectangle-shaped cards box with one arm, drop the rectangle-shaped cards box in the basket for carrying things.",
+    "Grab the black playing cards box, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Lift the rectangular box for card storage, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Pick up the playing cards box with gold text and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Use the left arm to pick the box with cards inside, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick the compact box for playing cards, place it in the basket for holding items.",
+    "Pick up the cardboard playing cards box, put it in the basket with loop handle, shift the basket with loop handle a little.",
+    "Pick and move the rectangular box for card storage, then shift the smooth ribbed light brown basket.",
+    "Pick the rectangular box for card storage, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Grab the box holding playing cards and drop it in the basket for carrying things.",
+    "Pick the black playing cards box and position it in the woven basket, move the woven basket slightly.",
+    "Pick the small black box with cards, drop the small black box with cards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Use one arm to grab the palm-sized box for playing cards, place it in the brown basket, then move the brown basket.",
+    "Pick up the palm-sized box for playing cards, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Grab the box with cards inside, set it into the smooth ribbed light brown basket.",
+    "Use one arm to place the rectangle-shaped cards box in the oval-shaped basket with woven body.",
+    "Grab the compact box for playing cards, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Lift the rectangle-shaped cards box, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick the compact box for playing cards, put it inside the brown basket.",
+    "Move the compact box for playing cards to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Put the small black box with cards in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Use the left arm to grab the box with cards inside, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Take the small black box with cards, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Grab the black playing cards box, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Lift the compact box for playing cards using the left arm, drop it in the basket for carrying things, then push the basket for carrying things via the right arm.",
+    "Use one arm to place the black playing cards box in the basket with loop handle, adjust the basket with loop handle.",
+    "Put the small black box with cards in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Set the rectangular box for card storage in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Place the box with cards inside into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away."
+  ],
+  "unseen": [
+    "Pick up the gold text on playing cards box and drop in the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the hard black box for card deck and place into the medium basket with smooth texture.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the hard black box for card deck, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the black box with smooth surface to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the black box with smooth surface, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the hard black box for card deck, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the hard black box for card deck and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Place the hard black box for card deck in the oval basket with medium storage space and move it.",
+    "Grab the black box with smooth surface and put it into the medium basket with smooth texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box and drop in the medium basket with smooth texture.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and place into the basket with rounded edges.",
+    "Grab the gold text on playing cards box, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box and drop in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the black box with smooth surface, place it in the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and put it in the medium basket with smooth texture.",
+    "Pick up the hard black box for card deck, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the gold text on playing cards box to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Place the black box with smooth surface in the medium basket with smooth texture and move it.",
+    "Grab the black box with smooth surface and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the oval basket with medium storage space.",
+    "Grab the black box with smooth surface and put it in the medium basket with smooth texture.",
+    "Pick up the gold text on playing cards box, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the hard black box for card deck, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the black box with smooth surface to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the black box with smooth surface and drop in the oval basket with medium storage space.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Grab the hard black box for card deck and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the hard black box for card deck, place it in the basket with rounded edges.",
+    "Grab the black box with smooth surface and put it in the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the gold text on playing cards box and place into the oval basket with medium storage space.",
+    "Grab the black box with smooth surface, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the hard black box for card deck to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the basket with rounded edges.",
+    "Place the gold text on playing cards box in the basket with rounded edges and move it.",
+    "Grab the gold text on playing cards box and put it into the oval basket with medium storage space.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the hard black box for card deck and put it in the basket with rounded edges.",
+    "Pick up the hard black box for card deck, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the gold text on playing cards box and place into the basket with rounded edges.",
+    "Grab the black box with smooth surface, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the hard black box for card deck to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the black box with smooth surface and drop in the basket with rounded edges.",
+    "Place the black box with smooth surface in the oval basket with medium storage space and move it.",
+    "Grab the gold text on playing cards box and put it into the basket with rounded edges.",
+    "Use one arm to grab the gold text on playing cards box, place it in the basket with rounded edges.",
+    "Grab the gold text on playing cards box and put it in the oval basket with medium storage space.",
+    "Pick up the gold text on playing cards box, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the black box with smooth surface and place into the medium basket with smooth texture.",
+    "Grab the black box with smooth surface, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the gold text on playing cards box to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the hard black box for card deck and drop in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode19.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37d05f0d515df236a5d22ccd617f38cb0d9ef71
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue top toycar and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Set the toycar with transparent windshield in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the toycar for kids play, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use one arm to grab the blue and gray toycar, place it in the brown basket, then move the brown basket.",
+    "Lift the toycar with black tires, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Pick up the small plastic toycar and set it inside the brown basket.",
+    "Put the blue top toycar in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick up the palm-sized blue toycar, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Pick the toycar with black tires, place it in the basket with handle.",
+    "Pick the palm-sized blue toycar, drop the palm-sized blue toycar in the basket with loop handle, slide the basket with loop handle lightly.",
+    "Grab the palm-sized blue toycar, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Use the right arm to grab the palm-sized blue toycar, place it in the basket for carrying things, and move the basket for carrying things using the left arm.",
+    "Pick the bright sleek toycar and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the toycar with smooth texture and drop it in the brown basket with woven ridges.",
+    "Move the bright sleek toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the toycar with shiny plastic finish using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Use the right arm to pick the toycar with black tires, then use the left arm for the wooden basket with curved handle.",
+    "Pick the toycar with smooth texture, put it inside the smooth ribbed light brown basket.",
+    "Grab the small plastic toycar, place it in the brown basket, then move the brown basket away.",
+    "Lift the blue and gray toycar, place it into the basket for carrying things, move the basket for carrying things.",
+    "Pick and move the palm-sized blue toycar, then shift the basket for carrying things.",
+    "Grab the small plastic toycar, set it into the woven basket.",
+    "Use one arm to place the toycar with smooth texture in the smooth ribbed light brown basket.",
+    "Put the small plastic toycar in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick the toycar with shiny plastic finish, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the blue toycar, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Take the bright sleek toycar, put the bright sleek toycar into the brown basket, shift the brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the wooden basket with curved handle.",
+    "Use one arm to place the blue top toycar in the basket with handle, adjust the basket with handle.",
+    "Place the toycar with shiny wheels into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Grab the small plastic toycar, drop it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Take the blue and gray toycar, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Place the small plastic toycar in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Pick up the bright sleek toycar and drop it in the basket with handle, then move the basket with handle.",
+    "Set the toycar with black tires in the brown basket, and shift the brown basket away.",
+    "Pick up the toycar with shiny wheels, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Use one arm to grab the toycar with smooth texture, place it in the basket for holding items, then move the basket for holding items.",
+    "Lift the toycar with shiny plastic finish, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Pick up the toycar with shiny wheels and set it inside the wooden basket with curved handle.",
+    "Put the palm-sized blue toycar in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the blue top toycar, put it in the woven basket, shift the woven basket a little.",
+    "Pick the palm-sized blue toycar, place it in the brown basket.",
+    "Pick the small plastic toycar, drop the small plastic toycar in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Grab the toycar with transparent windshield, drop in the basket for carrying things, and move the basket for carrying things.",
+    "Use the right arm to grab the toycar with smooth texture, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the left arm.",
+    "Pick the toycar for kids play and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Grab the bright sleek toycar and drop it in the basket for holding items.",
+    "Move the palm-sized blue toycar to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the toycar with black tires using the right arm, drop it in the basket with loop handle, then push the basket with loop handle via the left arm.",
+    "Use the right arm to pick the blue and gray toycar, then use the left arm for the basket for holding items.",
+    "Pick the blue top toycar, put it inside the oval-shaped basket with woven body.",
+    "Grab the toycar with shiny plastic finish, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Lift the blue and gray toycar, place it into the woven basket, move the woven basket.",
+    "Pick and move the toycar with shiny wheels, then shift the brown basket with woven ridges.",
+    "Grab the toycar for kids play, set it into the basket for holding items.",
+    "Use one arm to place the blue toycar in the wooden basket with curved handle.",
+    "Put the toycar with smooth texture in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick the bright sleek toycar, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Grab the palm-sized blue toycar, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the blue and gray toycar, put the blue and gray toycar into the brown basket, shift the brown basket.",
+    "Grab the blue top toycar with one arm, drop the blue top toycar in the wooden basket with curved handle.",
+    "Use one arm to place the blue top toycar in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Place the blue and gray toycar into the brown basket and push the brown basket slightly away.",
+    "Grab the blue top toycar, drop it in the light brown oval basket, shift the light brown oval basket.",
+    "Take the toycar with smooth texture, set it in the basket with handle, shift the basket with handle lightly.",
+    "Place the toycar with shiny plastic finish in the basket for holding items, then grab the basket for holding items.",
+    "Pick up the toycar with shiny plastic finish and drop it in the basket for holding items, then move the basket for holding items.",
+    "Set the toycar with shiny wheels in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick up the toycar for kids play, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Use one arm to grab the blue toycar, place it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Lift the toycar for kids play, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Pick up the palm-sized blue toycar and set it inside the brown basket with woven ridges.",
+    "Put the toycar with transparent windshield in the brown basket, then move the brown basket away slightly.",
+    "Pick up the small plastic toycar, put it in the basket with handle, shift the basket with handle a little.",
+    "Pick the blue top toycar, place it in the brown basket with woven ridges.",
+    "Pick the toycar with transparent windshield, drop the toycar with transparent windshield in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the blue toycar, drop in the brown basket, and move the brown basket.",
+    "Use the right arm to grab the toycar with smooth texture, place it in the basket made of woven wood, and move the basket made of woven wood using the left arm.",
+    "Pick the toycar with black tires and position it in the smooth ribbed light brown basket, move the smooth ribbed light brown basket slightly.",
+    "Grab the toycar with black tires and drop it in the basket for carrying things.",
+    "Move the toycar with shiny plastic finish to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the blue top toycar using the right arm, drop it in the basket for carrying things, then push the basket for carrying things via the left arm.",
+    "Use the right arm to pick the toycar with black tires, then use the left arm for the oval-shaped basket with woven body.",
+    "Pick the small plastic toycar, put it inside the basket with handle.",
+    "Grab the blue toycar, place it in the woven basket, then move the woven basket away.",
+    "Lift the toycar with black tires, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick and move the toycar with shiny wheels, then shift the brown basket.",
+    "Grab the toycar for kids play, set it into the basket for holding items.",
+    "Use one arm to place the palm-sized blue toycar in the brown basket with woven ridges.",
+    "Put the toycar with transparent windshield in the light brown oval basket and pull the light brown oval basket away.",
+    "Pick the toycar with shiny plastic finish, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the toycar for kids play, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Take the palm-sized blue toycar, put the palm-sized blue toycar into the basket for carrying things, shift the basket for carrying things.",
+    "Grab the toycar with shiny wheels with one arm, drop the toycar with shiny wheels in the light brown oval basket.",
+    "Use one arm to place the toycar for kids play in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Place the palm-sized blue toycar into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Grab the toycar with transparent windshield, drop it in the basket with loop handle, shift the basket with loop handle.",
+    "Take the toycar with shiny plastic finish, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Place the toycar with shiny plastic finish in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick up the bright sleek toycar and drop it in the brown basket, then move the brown basket."
+  ],
+  "unseen": [
+    "Grab the toycar with rounded body and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Move the gray base toycar to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the gray base toycar in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the basket with rounded edges.",
+    "Move the toycar with rounded body to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the toycar with rounded body and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the gray base toycar, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the basket with rounded edges.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the toycar with rounded body in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the toycar with rounded body, place it in the medium basket with smooth texture.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the basket with rounded edges.",
+    "Pick up the compact toycar with rotating wheels, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the gray base toycar and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the gray base toycar, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the basket with rounded edges.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and place into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the gray base toycar, place it in the medium basket with smooth texture.",
+    "Move the toycar with rounded body to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it in the oval basket with medium storage space.",
+    "Grab the gray base toycar and put it into the medium basket with smooth texture.",
+    "Pick up the gray base toycar, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body and drop in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and place into the basket with rounded edges.",
+    "Place the compact toycar with rotating wheels in the basket with rounded edges and move it.",
+    "Grab the compact toycar with rotating wheels, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the oval basket with medium storage space.",
+    "Move the gray base toycar to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it into the medium basket with smooth texture.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the gray base toycar and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the toycar with rounded body in the oval basket with medium storage space and move it.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the toycar with rounded body and put it in the medium basket with smooth texture.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the toycar with rounded body and drop in the medium basket with smooth texture.",
+    "Grab the gray base toycar and place into the medium basket with smooth texture.",
+    "Place the gray base toycar in the basket with rounded edges and move it.",
+    "Grab the toycar with rounded body, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the gray base toycar, place it in the oval basket with medium storage space.",
+    "Move the toycar with rounded body to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the gray base toycar and put it in the basket with rounded edges.",
+    "Grab the gray base toycar and put it into the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the compact toycar with rotating wheels and drop in the basket with rounded edges.",
+    "Grab the compact toycar with rotating wheels and place into the oval basket with medium storage space.",
+    "Place the compact toycar with rotating wheels in the medium basket with smooth texture and move it.",
+    "Grab the toycar with rounded body, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the oval basket with medium storage space.",
+    "Move the compact toycar with rotating wheels to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the toycar with rounded body and put it in the oval basket with medium storage space.",
+    "Grab the compact toycar with rotating wheels and put it into the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode2.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db9a56cf7d00053f657f9f092a96f997394306b
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rectangular blue playingcards case, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick the playingcards box with white symbols, put it inside the light brown oval basket.",
+    "Pick the smooth playingcards holder, drop the smooth playingcards holder in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Pick up the small playingcards container, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Grab the rectangular blue playingcards case, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket for holding items.",
+    "Set the small playingcards container in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Lift the blue playingcards box, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Lift the box of playingcards using the left arm, drop it in the light brown oval basket, then push the light brown oval basket via the right arm.",
+    "Use one arm to place the playingcards box with white symbols in the basket for holding items, adjust the basket for holding items.",
+    "Pick and move the card box with golden designs, then shift the basket for carrying things.",
+    "Pick the blue carton for playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Put the playingcards pack with blue top in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Use one arm to grab the box of playingcards, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket for holding items.",
+    "Grab the small playingcards container and drop it in the oval-shaped basket with woven body.",
+    "Use the left arm to grab the rectangular blue playingcards case, place it in the basket for carrying things, and move the basket for carrying things using the right arm.",
+    "Pick the blue and white playingcards packaging, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Use one arm to place the smooth playingcards holder in the basket for carrying things.",
+    "Grab the smooth playingcards holder, drop in the basket with handle, and move the basket with handle.",
+    "Pick up the playingcards pack with blue top, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Place the playingcards box with white symbols in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Place the playingcards pack with blue top into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the basket for holding items.",
+    "Take the playingcards box with white symbols, set it in the brown basket with woven ridges, shift the brown basket with woven ridges lightly.",
+    "Grab the card box with golden designs, drop it in the brown basket, shift the brown basket.",
+    "Move the blue playingcards box to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Lift the playingcards pack with blue top, drop it in the basket for holding items, then slightly relocate the basket for holding items.",
+    "Put the blue playingcards box in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Pick the box of playingcards, place it in the brown basket with woven ridges.",
+    "Grab the playingcards pack with blue top, set it into the brown basket.",
+    "Pick up the smooth playingcards holder and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick the blue carton for playingcards, put it inside the woven basket.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Pick up the smooth playingcards holder, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Take the card box with golden designs, put the card box with golden designs into the brown basket, shift the brown basket.",
+    "Grab the palm-sized playingcards carton, place it in the basket made of woven wood, then move the basket made of woven wood away.",
+    "Pick up the small playingcards container and set it inside the basket for carrying things.",
+    "Set the palm-sized playingcards carton in the basket with loop handle, and shift the basket with loop handle away.",
+    "Lift the blue carton for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Use one arm to place the small playingcards container in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Pick and move the blue and white playingcards packaging, then shift the light brown oval basket.",
+    "Pick the blue carton for playingcards and position it in the woven basket, move the woven basket slightly.",
+    "Put the box of playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket for carrying things.",
+    "Grab the blue carton for playingcards and drop it in the basket for carrying things.",
+    "Use the left arm to grab the blue carton for playingcards, place it in the woven basket, and move the woven basket using the right arm.",
+    "Pick the small playingcards container, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use one arm to place the playingcards box with white symbols in the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols, drop in the light brown oval basket, and move the light brown oval basket.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Place the blue pack holding playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Place the blue playingcards box into the wooden basket with curved handle and push the wooden basket with curved handle slightly away.",
+    "Use the left arm to pick the blue pack holding playingcards, then use the right arm for the basket made of woven wood.",
+    "Take the card box with golden designs, set it in the basket with handle, shift the basket with handle lightly.",
+    "Grab the box of playingcards, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Move the palm-sized playingcards carton to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Lift the blue carton for playingcards, drop it in the woven basket, then slightly relocate the woven basket.",
+    "Put the small playingcards container in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the box of playingcards, place it in the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, set it into the brown basket with woven ridges.",
+    "Pick up the palm-sized playingcards carton and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Grab the palm-sized playingcards carton, drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, put it inside the brown basket with woven ridges.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the brown basket, slide the brown basket lightly.",
+    "Pick up the smooth playingcards holder, put it in the brown basket, shift the brown basket a little.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for holding items, shift the basket for holding items.",
+    "Grab the playingcards pack with blue top, place it in the basket with loop handle, then move the basket with loop handle away.",
+    "Pick up the palm-sized playingcards carton and set it inside the brown basket.",
+    "Set the blue carton for playingcards in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Lift the blue and white playingcards packaging, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Lift the blue carton for playingcards using the left arm, drop it in the basket with loop handle, then push the basket with loop handle via the right arm.",
+    "Use one arm to place the card box with golden designs in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket.",
+    "Pick the card box with golden designs and position it in the basket for carrying things, move the basket for carrying things slightly.",
+    "Put the small playingcards container in the brown basket and pull the brown basket away.",
+    "Use one arm to grab the blue playingcards box, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket made of woven wood.",
+    "Grab the box of playingcards and drop it in the basket with handle.",
+    "Use the left arm to grab the card box with golden designs, place it in the brown basket, and move the brown basket using the right arm.",
+    "Pick the small playingcards container, place it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the blue and white playingcards packaging in the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Pick up the smooth playingcards holder, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Place the small playingcards container into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the brown basket.",
+    "Take the playingcards pack with blue top, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Grab the blue and white playingcards packaging, drop it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Move the smooth playingcards holder to the basket with handle, then shift the basket with handle.",
+    "Lift the playingcards pack with blue top, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Put the rectangular blue playingcards case in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Pick the card box with golden designs, place it in the basket made of woven wood.",
+    "Grab the playingcards pack with blue top, set it into the brown basket with woven ridges.",
+    "Pick up the playingcards box with white symbols and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the box of playingcards, drop it in the basket for carrying things, then move the basket for carrying things."
+  ],
+  "unseen": [
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the medium basket with smooth texture and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode3.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..56473faea334558eb8567531541f142d422dced3
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized playingcards carton, set it into the basket for carrying things.",
+    "Use one arm to place the small playingcards container in the basket for holding items.",
+    "Lift the card box with golden designs, place it into the basket with handle, move the basket with handle.",
+    "Place the box of playingcards into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Grab the box of playingcards, place it in the basket for holding items, then move the basket for holding items away.",
+    "Set the playingcards box with white symbols in the basket for carrying things, and shift the basket for carrying things away.",
+    "Use the left arm to pick the playingcards box with white symbols, then use the right arm for the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the basket with loop handle.",
+    "Move the playingcards box with white symbols to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Pick and move the playingcards box with white symbols, then shift the light brown oval basket.",
+    "Grab the blue playingcards box, drop it in the basket with handle, shift the basket with handle.",
+    "Pick the box of playingcards, place it in the basket for holding items, shift the basket for holding items.",
+    "Put the small playingcards container in the light brown oval basket, then move the light brown oval basket away slightly.",
+    "Use the left arm to grab the palm-sized playingcards carton, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick up the small playingcards container, place it in the light brown oval basket, grab the light brown oval basket.",
+    "Pick up the playingcards pack with blue top, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Pick the small playingcards container, put it inside the wooden basket with curved handle.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the right arm.",
+    "Pick up the playingcards box with white symbols and set it inside the brown basket with woven ridges.",
+    "Use one arm to grab the playingcards pack with blue top, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick up the card box with golden designs and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Put the blue carton for playingcards in the basket with loop handle and pull the basket with loop handle away.",
+    "Grab the blue carton for playingcards, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the basket with handle, slide the basket with handle lightly.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket with handle, shift the basket with handle.",
+    "Use one arm to place the small playingcards container in the basket for holding items, adjust the basket for holding items.",
+    "Grab the blue pack holding playingcards, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Grab the blue playingcards box and drop it in the woven basket.",
+    "Pick the box of playingcards and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Take the blue and white playingcards packaging, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Lift the box of playingcards, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Place the playingcards pack with blue top in the basket for carrying things, then grab the basket for carrying things.",
+    "Pick the small playingcards container, place it in the oval-shaped basket with woven body.",
+    "Grab the blue playingcards box, set it into the brown basket.",
+    "Use one arm to place the card box with golden designs in the basket made of woven wood.",
+    "Lift the small playingcards container, place it into the basket for holding items, move the basket for holding items.",
+    "Place the rectangular blue playingcards case into the woven basket and push the woven basket slightly away.",
+    "Grab the blue playingcards box, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Set the playingcards pack with blue top in the basket with loop handle, and shift the basket with loop handle away.",
+    "Use the left arm to pick the small playingcards container, then use the right arm for the light brown oval basket.",
+    "Grab the rectangular blue playingcards case with one arm, drop the rectangular blue playingcards case in the brown basket with woven ridges.",
+    "Move the box of playingcards to the basket with handle, then shift the basket with handle.",
+    "Pick and move the small playingcards container, then shift the basket for carrying things.",
+    "Grab the blue carton for playingcards, drop it in the woven basket, shift the woven basket.",
+    "Pick the palm-sized playingcards carton, place it in the basket with loop handle, shift the basket with loop handle.",
+    "Put the blue pack holding playingcards in the basket for carrying things, then move the basket for carrying things away slightly.",
+    "Use the left arm to grab the blue playingcards box, place it in the basket for holding items, and move the basket for holding items using the right arm.",
+    "Pick up the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick up the blue playingcards box, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Pick the blue and white playingcards packaging, put it inside the woven basket.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Pick up the palm-sized playingcards carton and set it inside the smooth ribbed light brown basket.",
+    "Use one arm to grab the box of playingcards, place it in the basket for holding items, then move the basket for holding items.",
+    "Pick up the card box with golden designs and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Put the smooth playingcards holder in the basket with loop handle and pull the basket with loop handle away.",
+    "Grab the playingcards box with white symbols, drop in the brown basket, and move the brown basket.",
+    "Pick the small playingcards container, drop the small playingcards container in the woven basket, slide the woven basket lightly.",
+    "Take the playingcards box with white symbols, put the playingcards box with white symbols into the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the smooth playingcards holder in the smooth ribbed light brown basket, adjust the smooth ribbed light brown basket.",
+    "Grab the card box with golden designs, drop it in the basket with handle, then move the basket with handle.",
+    "Grab the blue carton for playingcards and drop it in the wooden basket with curved handle.",
+    "Pick the rectangular blue playingcards case and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Take the blue and white playingcards packaging, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Lift the card box with golden designs, drop it in the brown basket with woven ridges, then slightly relocate the brown basket with woven ridges.",
+    "Place the smooth playingcards holder in the basket with loop handle, then grab the basket with loop handle.",
+    "Pick the box of playingcards, place it in the basket for holding items.",
+    "Grab the palm-sized playingcards carton, set it into the woven basket.",
+    "Use one arm to place the card box with golden designs in the woven basket.",
+    "Lift the box of playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Place the small playingcards container into the basket with handle and push the basket with handle slightly away.",
+    "Grab the playingcards pack with blue top, place it in the brown basket, then move the brown basket away.",
+    "Set the blue pack holding playingcards in the brown basket, and shift the brown basket away.",
+    "Use the left arm to pick the playingcards pack with blue top, then use the right arm for the brown basket with woven ridges.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket made of woven wood.",
+    "Move the playingcards box with white symbols to the basket made of woven wood, then shift the basket made of woven wood.",
+    "Pick and move the playingcards pack with blue top, then shift the light brown oval basket.",
+    "Grab the palm-sized playingcards carton, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick the playingcards box with white symbols, place it in the woven basket, shift the woven basket.",
+    "Put the palm-sized playingcards carton in the basket for holding items, then move the basket for holding items away slightly.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the basket with loop handle, and move the basket with loop handle using the right arm.",
+    "Pick up the palm-sized playingcards carton, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick up the playingcards box with white symbols, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Pick the blue carton for playingcards, put it inside the light brown oval basket.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Pick up the playingcards box with white symbols and set it inside the basket for carrying things.",
+    "Use one arm to grab the blue pack holding playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the smooth playingcards holder and drop it in the brown basket, then move the brown basket.",
+    "Put the small playingcards container in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Grab the blue playingcards box, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the small playingcards container, drop the small playingcards container in the wooden basket with curved handle, slide the wooden basket with curved handle lightly.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the basket with loop handle, shift the basket with loop handle.",
+    "Use one arm to place the blue and white playingcards packaging in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the box of playingcards and drop it in the brown basket.",
+    "Pick the playingcards box with white symbols and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Take the blue pack holding playingcards, set it in the brown basket, shift the brown basket lightly.",
+    "Lift the rectangular blue playingcards case, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Place the palm-sized playingcards carton in the basket with handle, then grab the basket with handle.",
+    "Pick the blue pack holding playingcards, place it in the smooth ribbed light brown basket.",
+    "Grab the blue and white playingcards packaging, set it into the light brown oval basket."
+  ],
+  "unseen": [
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode4.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..40940e1ae6eb0c5c12326b51ceea1ac84d220556
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playing cards box with gold text, drop in the bright yellow basket, and move the bright yellow basket.",
+    "Pick up the cardboard playing cards box, place it in the carrying basket with black plastic handle, grab the carrying basket with black plastic handle.",
+    "Set the playing cards box with gold text in the yellow basket for carrying stuff, and shift the yellow basket for carrying stuff away.",
+    "Lift the box with cards inside, place it into the rectangular basket with smooth surface, move the rectangular basket with smooth surface.",
+    "Use one arm to place the compact box for playing cards in the rectangular yellow basket, adjust the rectangular yellow basket.",
+    "Pick up the rectangular box for card storage, put it in the handheld basket, shift the handheld basket a little.",
+    "Use one arm to place the small black box with cards in the handheld basket.",
+    "Take the palm-sized box for playing cards, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the smooth black cards container, drop the smooth black cards container in the basket with perforated sides, slide the basket with perforated sides lightly.",
+    "Grab the palm-sized box for playing cards and drop it in the basket with perforated sides.",
+    "Place the box holding playing cards into the basket with black handle and push the basket with black handle slightly away.",
+    "Lift the cardboard playing cards box using the right arm, drop it in the yellow basket, then push the yellow basket via the left arm.",
+    "Pick the smooth black cards container and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the small black box with cards and set it inside the carrying basket with black plastic handle.",
+    "Grab the box with cards inside, drop it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Use the right arm to grab the black playing cards box, place it in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface using the left arm.",
+    "Pick and move the small black box with cards, then shift the basket with arched black grip.",
+    "Take the cardboard playing cards box, put the cardboard playing cards box into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the black playing cards box, put it inside the carrying basket with black plastic handle.",
+    "Pick the smooth black cards container, place it in the handheld basket.",
+    "Put the box holding playing cards in the yellow basket and pull the yellow basket away.",
+    "Use one arm to grab the playing cards box with gold text, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Move the rectangle-shaped cards box to the basket with perforated sides, then shift the basket with perforated sides.",
+    "Grab the box with cards inside with one arm, drop the box with cards inside in the rectangular yellow basket.",
+    "Grab the box holding playing cards, drop it in the plastic basket, then move the plastic basket.",
+    "Pick the black box with rectangular shape, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the cardboard playing cards box in the medium yellow basket with slots, then move the medium yellow basket with slots away slightly.",
+    "Lift the rectangle-shaped cards box, drop it in the handheld basket, then slightly relocate the handheld basket.",
+    "Grab the box holding playing cards, set it into the plastic basket.",
+    "Use the right arm to pick the rectangular box for card storage, then use the left arm for the yellow basket.",
+    "Place the smooth black cards container in the yellow basket, then grab the yellow basket.",
+    "Pick up the rectangle-shaped cards box and drop it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Grab the playing cards box with gold text, place it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away.",
+    "Grab the palm-sized box for playing cards, drop in the yellow basket, and move the yellow basket.",
+    "Pick up the palm-sized box for playing cards, place it in the rectangular basket with smooth surface, grab the rectangular basket with smooth surface.",
+    "Set the box holding playing cards in the plastic basket, and shift the plastic basket away.",
+    "Lift the small black box with cards, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Use one arm to place the rectangular box for card storage in the yellow basket, adjust the yellow basket.",
+    "Pick up the rectangular box for card storage, put it in the handheld basket, shift the handheld basket a little.",
+    "Use one arm to place the small black box with cards in the rectangular yellow basket.",
+    "Take the playing cards box with gold text, set it in the basket with perforated sides, shift the basket with perforated sides lightly.",
+    "Pick the rectangle-shaped cards box, drop the rectangle-shaped cards box in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Grab the compact box for playing cards and drop it in the carrying basket with black plastic handle.",
+    "Place the compact box for playing cards into the carrying basket with black plastic handle and push the carrying basket with black plastic handle slightly away.",
+    "Lift the black playing cards box using the right arm, drop it in the rectangular yellow basket, then push the rectangular yellow basket via the left arm.",
+    "Pick the compact box for playing cards and position it in the medium yellow basket with slots, move the medium yellow basket with slots slightly.",
+    "Pick up the rectangle-shaped cards box and set it inside the basket with black handle.",
+    "Grab the rectangular box for card storage, drop it in the yellow basket, shift the yellow basket.",
+    "Use the right arm to grab the playing cards box with gold text, place it in the basket with arched black grip, and move the basket with arched black grip using the left arm.",
+    "Pick and move the box holding playing cards, then shift the handheld basket.",
+    "Take the box holding playing cards, put the box holding playing cards into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick the playing cards box with gold text, put it inside the basket with black handle.",
+    "Pick the compact box for playing cards, place it in the plastic basket.",
+    "Put the small black box with cards in the yellow basket and pull the yellow basket away.",
+    "Use one arm to grab the rectangle-shaped cards box, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface.",
+    "Move the black box with rectangular shape to the rectangular basket with smooth surface, then shift the rectangular basket with smooth surface.",
+    "Grab the black playing cards box with one arm, drop the black playing cards box in the rectangular basket with smooth surface.",
+    "Grab the compact box for playing cards, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the box with cards inside, place it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Put the palm-sized box for playing cards in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Lift the black box with rectangular shape, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the box holding playing cards, set it into the carrying basket with black plastic handle.",
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the yellow basket.",
+    "Place the black playing cards box in the plastic basket, then grab the plastic basket.",
+    "Pick up the rectangle-shaped cards box and drop it in the bright yellow basket, then move the bright yellow basket.",
+    "Grab the rectangle-shaped cards box, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away.",
+    "Grab the palm-sized box for playing cards, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Pick up the cardboard playing cards box, place it in the rectangular yellow basket, grab the rectangular yellow basket.",
+    "Set the palm-sized box for playing cards in the basket with perforated sides, and shift the basket with perforated sides away.",
+    "Lift the black box with rectangular shape, place it into the basket with arched black grip, move the basket with arched black grip.",
+    "Use one arm to place the rectangle-shaped cards box in the plastic basket, adjust the plastic basket.",
+    "Pick up the cardboard playing cards box, put it in the bright yellow basket, shift the bright yellow basket a little.",
+    "Use one arm to place the compact box for playing cards in the plastic basket.",
+    "Take the palm-sized box for playing cards, set it in the yellow basket, shift the yellow basket lightly.",
+    "Pick the cardboard playing cards box, drop the cardboard playing cards box in the bright yellow basket, slide the bright yellow basket lightly.",
+    "Grab the compact box for playing cards and drop it in the basket with perforated sides.",
+    "Place the box with cards inside into the handheld basket and push the handheld basket slightly away.",
+    "Lift the playing cards box with gold text using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Pick the box with cards inside and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the compact box for playing cards and set it inside the plastic basket.",
+    "Grab the box with cards inside, drop it in the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Use the right arm to grab the box with cards inside, place it in the bright yellow basket, and move the bright yellow basket using the left arm.",
+    "Pick and move the box holding playing cards, then shift the yellow basket.",
+    "Take the rectangle-shaped cards box, put the rectangle-shaped cards box into the basket with black handle, shift the basket with black handle.",
+    "Pick the cardboard playing cards box, put it inside the yellow basket for carrying stuff.",
+    "Pick the compact box for playing cards, place it in the bright yellow basket.",
+    "Put the small black box with cards in the bright yellow basket and pull the bright yellow basket away.",
+    "Use one arm to grab the rectangular box for card storage, place it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Move the palm-sized box for playing cards to the medium yellow basket with slots, then shift the medium yellow basket with slots.",
+    "Grab the compact box for playing cards with one arm, drop the compact box for playing cards in the carrying basket with black plastic handle.",
+    "Grab the rectangle-shaped cards box, drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Pick the box with cards inside, place it in the basket with arched black grip, shift the basket with arched black grip.",
+    "Put the smooth black cards container in the rectangular yellow basket, then move the rectangular yellow basket away slightly.",
+    "Lift the smooth black cards container, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the rectangular box for card storage, set it into the carrying basket with black plastic handle.",
+    "Use the right arm to pick the rectangle-shaped cards box, then use the left arm for the medium yellow basket with slots.",
+    "Place the compact box for playing cards in the yellow basket for carrying stuff, then grab the yellow basket for carrying stuff.",
+    "Pick up the box with cards inside and drop it in the basket with perforated sides, then move the basket with perforated sides.",
+    "Grab the rectangle-shaped cards box, place it in the rectangular yellow basket, then move the rectangular yellow basket away.",
+    "Grab the cardboard playing cards box, drop in the yellow basket for carrying stuff, and move the yellow basket for carrying stuff."
+  ],
+  "unseen": [
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it into the medium-sized basket with perforated texture.",
+    "Move the hard black box for card deck to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow basket with open slots and move it.",
+    "Grab the hard black box for card deck and put it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow rectangular basket with dual grips.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the gold text on playing cards box to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the hard black box for card deck in the medium-sized basket with perforated texture and move it.",
+    "Grab the gold text on playing cards box and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the medium-sized basket with perforated texture and move it.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the hard black box for card deck, place it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the hard black box for card deck and place into the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the hard black box for card deck to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the hard black box for card deck, place it in the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the gold text on playing cards box in the yellow basket with open slots and move it.",
+    "Grab the hard black box for card deck and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the black box with smooth surface, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gold text on playing cards box and place into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the gold text on playing cards box, place it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck and drop in the yellow basket with open slots.",
+    "Grab the black box with smooth surface, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the black box with smooth surface in the yellow rectangular basket with dual grips and move it.",
+    "Grab the gold text on playing cards box and put it in the medium-sized basket with perforated texture.",
+    "Pick up the gold text on playing cards box, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow basket with open slots.",
+    "Grab the black box with smooth surface and put it into the yellow rectangular basket with dual grips.",
+    "Move the black box with smooth surface to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the medium-sized basket with perforated texture.",
+    "Pick up the black box with smooth surface and drop in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the medium-sized basket with perforated texture and move it.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the hard black box for card deck and place into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the medium-sized basket with perforated texture.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow basket with open slots.",
+    "Pick up the gold text on playing cards box and drop in the medium-sized basket with perforated texture.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the black box with smooth surface in the medium-sized basket with perforated texture and move it.",
+    "Grab the hard black box for card deck and put it in the medium-sized basket with perforated texture.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the black box with smooth surface and place into the medium-sized basket with perforated texture.",
+    "Grab the black box with smooth surface and put it into the yellow basket with open slots.",
+    "Move the black box with smooth surface to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Use one arm to grab the gold text on playing cards box, place it in the yellow rectangular basket with dual grips.",
+    "Pick up the gold text on playing cards box and drop in the yellow basket with open slots.",
+    "Grab the hard black box for card deck, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Place the hard black box for card deck in the yellow rectangular basket with dual grips and move it.",
+    "Grab the gold text on playing cards box and put it in the yellow basket with open slots.",
+    "Pick up the hard black box for card deck, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gold text on playing cards box and place into the yellow rectangular basket with dual grips.",
+    "Grab the gold text on playing cards box and put it into the yellow rectangular basket with dual grips.",
+    "Move the gold text on playing cards box to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Use one arm to grab the black box with smooth surface, place it in the yellow basket with open slots.",
+    "Pick up the black box with smooth surface and drop in the yellow basket with open slots.",
+    "Grab the gold text on playing cards box, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode5.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5a27d2d6e780261f0f2821d6a993d961880dbc
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the box of playingcards, place it in the wooden basket with curved handle.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the woven basket.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the blue carton for playingcards, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Lift the playingcards pack with blue top, place it into the basket for carrying things, move the basket for carrying things.",
+    "Place the card box with golden designs in the light brown oval basket, then grab the light brown oval basket.",
+    "Grab the card box with golden designs, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Put the playingcards pack with blue top in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Grab the card box with golden designs, set it into the basket with handle.",
+    "Pick up the playingcards pack with blue top and set it inside the basket for holding items.",
+    "Use the left arm to pick the palm-sized playingcards carton, then use the right arm for the oval-shaped basket with woven body.",
+    "Take the smooth playingcards holder, put the smooth playingcards holder into the basket for carrying things, shift the basket for carrying things.",
+    "Take the palm-sized playingcards carton, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick up the smooth playingcards holder, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Use one arm to place the playingcards box with white symbols in the smooth ribbed light brown basket.",
+    "Put the playingcards box with white symbols in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick and move the blue playingcards box, then shift the basket with handle.",
+    "Place the smooth playingcards holder into the basket with handle and push the basket with handle slightly away.",
+    "Set the playingcards box with white symbols in the basket with handle, and shift the basket with handle away.",
+    "Grab the rectangular blue playingcards case, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Pick the playingcards box with white symbols and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick the blue playingcards box, put it inside the wooden basket with curved handle.",
+    "Grab the rectangular blue playingcards case, drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Pick up the blue carton for playingcards and drop it in the brown basket, then move the brown basket.",
+    "Grab the box of playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Grab the card box with golden designs and drop it in the basket with loop handle.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the brown basket, and move the brown basket using the right arm.",
+    "Lift the playingcards pack with blue top using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Move the blue pack holding playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to place the rectangular blue playingcards case in the basket for holding items, adjust the basket for holding items.",
+    "Pick the rectangular blue playingcards case, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the playingcards pack with blue top, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the rectangular blue playingcards case, place it in the basket with loop handle.",
+    "Grab the palm-sized playingcards carton with one arm, drop the palm-sized playingcards carton in the basket made of woven wood.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the palm-sized playingcards carton, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Lift the rectangular blue playingcards case, place it into the oval-shaped basket with woven body, move the oval-shaped basket with woven body.",
+    "Place the playingcards box with white symbols in the basket with loop handle, then grab the basket with loop handle.",
+    "Grab the box of playingcards, drop it in the basket for holding items, shift the basket for holding items.",
+    "Put the small playingcards container in the brown basket with woven ridges and pull the brown basket with woven ridges away.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the basket with handle, slide the basket with handle lightly.",
+    "Grab the rectangular blue playingcards case, set it into the basket made of woven wood.",
+    "Pick up the palm-sized playingcards carton and set it inside the light brown oval basket.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the oval-shaped basket with woven body.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the basket for holding items, shift the basket for holding items.",
+    "Take the small playingcards container, set it in the basket for carrying things, shift the basket for carrying things lightly.",
+    "Pick up the playingcards box with white symbols, place it in the basket made of woven wood, grab the basket made of woven wood.",
+    "Use one arm to place the rectangular blue playingcards case in the brown basket with woven ridges.",
+    "Put the small playingcards container in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Pick and move the box of playingcards, then shift the basket with loop handle.",
+    "Place the playingcards pack with blue top into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Set the blue and white playingcards packaging in the basket with handle, and shift the basket with handle away.",
+    "Grab the playingcards pack with blue top, drop in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body.",
+    "Pick the palm-sized playingcards carton and position it in the brown basket, move the brown basket slightly.",
+    "Pick the rectangular blue playingcards case, put it inside the oval-shaped basket with woven body.",
+    "Grab the playingcards pack with blue top, drop it in the brown basket, then move the brown basket.",
+    "Pick up the blue and white playingcards packaging and drop it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away.",
+    "Grab the blue and white playingcards packaging and drop it in the basket made of woven wood.",
+    "Use the left arm to grab the blue playingcards box, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Lift the small playingcards container using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Move the palm-sized playingcards carton to the basket for holding items, then shift the basket for holding items.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Pick the smooth playingcards holder, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Lift the box of playingcards, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood.",
+    "Grab the blue and white playingcards packaging with one arm, drop the blue and white playingcards packaging in the brown basket.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick up the blue carton for playingcards, put it in the wooden basket with curved handle, shift the wooden basket with curved handle a little.",
+    "Lift the blue pack holding playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Place the palm-sized playingcards carton in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Grab the card box with golden designs, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Put the playingcards pack with blue top in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick the blue and white playingcards packaging, drop the blue and white playingcards packaging in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Grab the blue carton for playingcards, set it into the brown basket.",
+    "Pick up the blue and white playingcards packaging and set it inside the basket for holding items.",
+    "Use the left arm to pick the rectangular blue playingcards case, then use the right arm for the basket for holding items.",
+    "Take the blue pack holding playingcards, put the blue pack holding playingcards into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Take the blue pack holding playingcards, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick up the box of playingcards, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Use one arm to place the blue pack holding playingcards in the basket made of woven wood.",
+    "Put the card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Pick and move the small playingcards container, then shift the basket with loop handle.",
+    "Place the blue pack holding playingcards into the brown basket and push the brown basket slightly away.",
+    "Set the card box with golden designs in the brown basket, and shift the brown basket away.",
+    "Grab the palm-sized playingcards carton, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Pick the small playingcards container and position it in the brown basket, move the brown basket slightly.",
+    "Pick the rectangular blue playingcards case, put it inside the basket for carrying things.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, then move the woven basket.",
+    "Pick up the card box with golden designs and drop it in the woven basket, then move the woven basket.",
+    "Grab the small playingcards container, place it in the basket for carrying things, then move the basket for carrying things away.",
+    "Grab the playingcards box with white symbols and drop it in the wooden basket with curved handle.",
+    "Use the left arm to grab the card box with golden designs, place it in the basket made of woven wood, and move the basket made of woven wood using the right arm.",
+    "Lift the blue pack holding playingcards using the left arm, drop it in the smooth ribbed light brown basket, then push the smooth ribbed light brown basket via the right arm.",
+    "Move the blue and white playingcards packaging to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to place the blue carton for playingcards in the brown basket, adjust the brown basket.",
+    "Pick the blue playingcards box, place it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body.",
+    "Lift the blue playingcards box, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Pick the blue pack holding playingcards, place it in the basket made of woven wood."
+  ],
+  "unseen": [
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the basket with rounded edges and move it.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode6.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6814e43a0012b7ac8969a41e5745e070229e65
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the blue carton for playingcards in the basket with loop handle, and shift the basket with loop handle away.",
+    "Grab the blue and white playingcards packaging and drop it in the basket with loop handle.",
+    "Use one arm to place the blue and white playingcards packaging in the oval-shaped basket with woven body.",
+    "Lift the playingcards pack with blue top, place it into the basket for holding items, move the basket for holding items.",
+    "Grab the box of playingcards, set it into the oval-shaped basket with woven body.",
+    "Pick up the box of playingcards and set it inside the brown basket.",
+    "Lift the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Pick and move the rectangular blue playingcards case, then shift the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white symbols, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away.",
+    "Pick the blue pack holding playingcards, put it inside the woven basket.",
+    "Grab the small playingcards container, drop in the basket with loop handle, and move the basket with loop handle.",
+    "Place the blue carton for playingcards in the wooden basket with curved handle, then grab the wooden basket with curved handle.",
+    "Put the small playingcards container in the basket with handle and pull the basket with handle away.",
+    "Take the blue playingcards box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick the card box with golden designs, place it in the woven basket, shift the woven basket.",
+    "Use one arm to place the palm-sized playingcards carton in the basket with handle, adjust the basket with handle.",
+    "Move the rectangular blue playingcards case to the basket for carrying things, then shift the basket for carrying things.",
+    "Put the card box with golden designs in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Pick up the blue carton for playingcards, put it in the woven basket, shift the woven basket a little.",
+    "Lift the blue and white playingcards packaging using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Use the left arm to pick the box of playingcards, then use the right arm for the oval-shaped basket with woven body.",
+    "Place the palm-sized playingcards carton into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use one arm to grab the small playingcards container, place it in the basket with handle, then move the basket with handle.",
+    "Take the rectangular blue playingcards case, put the rectangular blue playingcards case into the basket with loop handle, shift the basket with loop handle.",
+    "Use the left arm to grab the blue pack holding playingcards, place it in the light brown oval basket, and move the light brown oval basket using the right arm.",
+    "Pick up the blue and white playingcards packaging and drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Grab the playingcards box with white symbols, drop it in the brown basket, shift the brown basket.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Pick the blue pack holding playingcards and position it in the light brown oval basket, move the light brown oval basket slightly.",
+    "Pick the blue and white playingcards packaging, place it in the woven basket.",
+    "Pick up the blue and white playingcards packaging, place it in the basket for carrying things, grab the basket for carrying things.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket for holding items.",
+    "Set the blue carton for playingcards in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Grab the playingcards pack with blue top and drop it in the basket with loop handle.",
+    "Use one arm to place the playingcards box with white symbols in the oval-shaped basket with woven body.",
+    "Lift the blue carton for playingcards, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, set it into the basket with loop handle.",
+    "Pick up the blue pack holding playingcards and set it inside the brown basket with woven ridges.",
+    "Lift the playingcards box with white symbols, drop it in the smooth ribbed light brown basket, then slightly relocate the smooth ribbed light brown basket.",
+    "Grab the blue pack holding playingcards, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick and move the box of playingcards, then shift the brown basket with woven ridges.",
+    "Grab the card box with golden designs, place it in the brown basket, then move the brown basket away.",
+    "Pick the card box with golden designs, put it inside the smooth ribbed light brown basket.",
+    "Grab the box of playingcards, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Place the playingcards pack with blue top in the light brown oval basket, then grab the light brown oval basket.",
+    "Put the smooth playingcards holder in the basket with handle and pull the basket with handle away.",
+    "Take the blue carton for playingcards, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick the small playingcards container, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Use one arm to place the rectangular blue playingcards case in the basket with handle, adjust the basket with handle.",
+    "Move the blue carton for playingcards to the basket for holding items, then shift the basket for holding items.",
+    "Put the blue carton for playingcards in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket away slightly.",
+    "Pick up the playingcards box with white symbols, put it in the brown basket, shift the brown basket a little.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Use the left arm to pick the blue carton for playingcards, then use the right arm for the basket for holding items.",
+    "Place the playingcards box with white symbols into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use one arm to grab the rectangular blue playingcards case, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Take the blue and white playingcards packaging, put the blue and white playingcards packaging into the woven basket, shift the woven basket.",
+    "Use the left arm to grab the blue playingcards box, place it in the wooden basket with curved handle, and move the wooden basket with curved handle using the right arm.",
+    "Pick up the playingcards box with white symbols and drop it in the basket with handle, then move the basket with handle.",
+    "Grab the playingcards box with white symbols, drop it in the basket for carrying things, shift the basket for carrying things.",
+    "Pick the playingcards pack with blue top, drop the playingcards pack with blue top in the brown basket with woven ridges, slide the brown basket with woven ridges lightly.",
+    "Pick the palm-sized playingcards carton and position it in the basket made of woven wood, move the basket made of woven wood slightly.",
+    "Pick the smooth playingcards holder, place it in the wooden basket with curved handle.",
+    "Pick up the box of playingcards, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Grab the playingcards pack with blue top with one arm, drop the playingcards pack with blue top in the woven basket.",
+    "Set the blue playingcards box in the basket made of woven wood, and shift the basket made of woven wood away.",
+    "Grab the blue carton for playingcards and drop it in the brown basket with woven ridges.",
+    "Use one arm to place the rectangular blue playingcards case in the smooth ribbed light brown basket.",
+    "Lift the blue pack holding playingcards, place it into the basket with loop handle, move the basket with loop handle.",
+    "Grab the box of playingcards, set it into the basket with loop handle.",
+    "Pick up the blue carton for playingcards and set it inside the basket for holding items.",
+    "Lift the playingcards pack with blue top, drop it in the brown basket, then slightly relocate the brown basket.",
+    "Grab the card box with golden designs, drop it in the light brown oval basket, then move the light brown oval basket.",
+    "Pick and move the smooth playingcards holder, then shift the brown basket with woven ridges.",
+    "Grab the playingcards box with white symbols, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Pick the rectangular blue playingcards case, put it inside the brown basket.",
+    "Grab the palm-sized playingcards carton, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Place the rectangular blue playingcards case in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Put the small playingcards container in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Take the palm-sized playingcards carton, set it in the basket for holding items, shift the basket for holding items lightly.",
+    "Pick the card box with golden designs, place it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the blue pack holding playingcards in the basket for carrying things, adjust the basket for carrying things.",
+    "Move the blue pack holding playingcards to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Put the blue and white playingcards packaging in the basket for holding items, then move the basket for holding items away slightly.",
+    "Pick up the box of playingcards, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Lift the smooth playingcards holder using the left arm, drop it in the brown basket, then push the brown basket via the right arm.",
+    "Use the left arm to pick the blue and white playingcards packaging, then use the right arm for the basket for holding items.",
+    "Place the small playingcards container into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Use one arm to grab the palm-sized playingcards carton, place it in the woven basket, then move the woven basket.",
+    "Take the palm-sized playingcards carton, put the palm-sized playingcards carton into the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Use the left arm to grab the blue and white playingcards packaging, place it in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket using the right arm.",
+    "Pick up the blue and white playingcards packaging and drop it in the basket for holding items, then move the basket for holding items.",
+    "Grab the blue and white playingcards packaging, drop it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Pick the rectangular blue playingcards case, drop the rectangular blue playingcards case in the brown basket, slide the brown basket lightly.",
+    "Pick the small playingcards container and position it in the basket with handle, move the basket with handle slightly.",
+    "Pick the blue pack holding playingcards, place it in the wooden basket with curved handle.",
+    "Pick up the playingcards box with white symbols, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Grab the blue carton for playingcards with one arm, drop the blue carton for playingcards in the wooden basket with curved handle.",
+    "Set the playingcards pack with blue top in the basket with loop handle, and shift the basket with loop handle away."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns and drop in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack and drop in the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it into the basket with rounded edges.",
+    "Move the small packet of playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Place the small packet of playingcards in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode7.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c19f7549d2b270f1a2807b1d94659aff8505ebec
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use one arm to grab the hand-sized playingcards container, place it in the brown basket, then move the brown basket.",
+    "Grab the glossy rectangular playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Put the hand-sized playingcards container in the basket with loop handle, then move the basket with loop handle away slightly.",
+    "Grab the box for playingcards and drop it in the basket for holding items.",
+    "Take the hand-sized playingcards container, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the compact red playingcards pack and set it inside the basket for carrying things.",
+    "Set the smooth playingcards pack in the basket with loop handle, and shift the basket with loop handle away.",
+    "Lift the rectangular playingcards case using the left arm, drop it in the basket with handle, then push the basket with handle via the right arm.",
+    "Grab the rectangular playingcards case, set it into the brown basket with woven ridges.",
+    "Use the left arm to grab the playingcards storage box, place it in the basket with handle, and move the basket with handle using the right arm.",
+    "Pick the small playingcards pack, put it inside the woven basket.",
+    "Use one arm to place the playingcards storage box in the brown basket with woven ridges.",
+    "Place the playingcards box with white accents in the smooth ribbed light brown basket, then grab the smooth ribbed light brown basket.",
+    "Move the playingcards box with white accents to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to place the red playingcards box in the basket made of woven wood, adjust the basket made of woven wood.",
+    "Grab the small playingcards pack, place it in the light brown oval basket, then move the light brown oval basket away.",
+    "Pick up the playingcards storage box, put it in the brown basket with woven ridges, shift the brown basket with woven ridges a little.",
+    "Grab the playingcards box with white accents, drop it in the brown basket, shift the brown basket.",
+    "Pick up the hand-sized playingcards container, place it in the brown basket with woven ridges, grab the brown basket with woven ridges.",
+    "Pick the compact red playingcards pack, drop the compact red playingcards pack in the basket made of woven wood, slide the basket made of woven wood lightly.",
+    "Lift the red playingcards box, drop it in the basket with loop handle, then slightly relocate the basket with loop handle.",
+    "Pick the smooth playingcards pack, place it in the basket with loop handle.",
+    "Grab the glossy rectangular playingcards box, drop it in the basket for holding items, then move the basket for holding items.",
+    "Take the small playingcards pack, put the small playingcards pack into the brown basket, shift the brown basket.",
+    "Place the smooth playingcards pack into the smooth ribbed light brown basket and push the smooth ribbed light brown basket slightly away.",
+    "Use the left arm to pick the playingcards box with white accents, then use the right arm for the wooden basket with curved handle.",
+    "Pick the red and yellow playingcards case, place it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Lift the playingcards box with white accents, place it into the basket with loop handle, move the basket with loop handle.",
+    "Pick the yellow and red playingcards box and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the smooth playingcards pack with one arm, drop the smooth playingcards pack in the basket with handle.",
+    "Pick up the glossy rectangular playingcards box and drop it in the woven basket, then move the woven basket.",
+    "Put the yellow and red playingcards box in the oval-shaped basket with woven body and pull the oval-shaped basket with woven body away.",
+    "Pick and move the rectangular playingcards case, then shift the woven basket.",
+    "Use one arm to grab the playingcards storage box, place it in the light brown oval basket, then move the light brown oval basket.",
+    "Grab the playingcards storage box, drop in the smooth ribbed light brown basket, and move the smooth ribbed light brown basket.",
+    "Put the rectangular playingcards case in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the hand-sized playingcards container and drop it in the basket with handle.",
+    "Take the glossy rectangular playingcards box, set it in the woven basket, shift the woven basket lightly.",
+    "Pick up the box for playingcards and set it inside the basket for holding items.",
+    "Set the yellow and red playingcards box in the oval-shaped basket with woven body, and shift the oval-shaped basket with woven body away.",
+    "Lift the hand-sized playingcards container using the left arm, drop it in the brown basket with woven ridges, then push the brown basket with woven ridges via the right arm.",
+    "Grab the smooth playingcards pack, set it into the wooden basket with curved handle.",
+    "Use the left arm to grab the playingcards storage box, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the red playingcards box, put it inside the brown basket.",
+    "Use one arm to place the compact red playingcards pack in the brown basket.",
+    "Place the glossy rectangular playingcards box in the brown basket with woven ridges, then grab the brown basket with woven ridges.",
+    "Move the playingcards storage box to the brown basket with woven ridges, then shift the brown basket with woven ridges.",
+    "Use one arm to place the red playingcards box in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Grab the glossy rectangular playingcards box, place it in the basket for holding items, then move the basket for holding items away.",
+    "Pick up the box for playingcards, put it in the basket made of woven wood, shift the basket made of woven wood a little.",
+    "Grab the small playingcards pack, drop it in the basket made of woven wood, shift the basket made of woven wood.",
+    "Pick up the yellow and red playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the red and yellow playingcards case, drop the red and yellow playingcards case in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the compact red playingcards pack, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Pick the smooth playingcards pack, place it in the woven basket.",
+    "Grab the yellow and red playingcards box, drop it in the woven basket, then move the woven basket.",
+    "Take the hand-sized playingcards container, put the hand-sized playingcards container into the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the compact red playingcards pack into the oval-shaped basket with woven body and push the oval-shaped basket with woven body slightly away.",
+    "Use the left arm to pick the playingcards storage box, then use the right arm for the wooden basket with curved handle.",
+    "Pick the yellow and red playingcards box, place it in the basket for holding items, shift the basket for holding items.",
+    "Lift the box for playingcards, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Pick the smooth playingcards pack and position it in the brown basket with woven ridges, move the brown basket with woven ridges slightly.",
+    "Grab the small playingcards pack with one arm, drop the small playingcards pack in the basket with loop handle.",
+    "Pick up the yellow and red playingcards box and drop it in the brown basket, then move the brown basket.",
+    "Put the yellow and red playingcards box in the wooden basket with curved handle and pull the wooden basket with curved handle away.",
+    "Pick and move the playingcards storage box, then shift the light brown oval basket.",
+    "Use one arm to grab the rectangular playingcards case, place it in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body.",
+    "Grab the playingcards box with white accents, drop in the brown basket with woven ridges, and move the brown basket with woven ridges.",
+    "Put the playingcards box with white accents in the basket made of woven wood, then move the basket made of woven wood away slightly.",
+    "Grab the playingcards storage box and drop it in the brown basket with woven ridges.",
+    "Take the red playingcards box, set it in the basket made of woven wood, shift the basket made of woven wood lightly.",
+    "Pick up the red playingcards box and set it inside the basket with handle.",
+    "Set the rectangular playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Lift the box for playingcards using the left arm, drop it in the woven basket, then push the woven basket via the right arm.",
+    "Grab the rectangular playingcards case, set it into the wooden basket with curved handle.",
+    "Use the left arm to grab the smooth playingcards pack, place it in the oval-shaped basket with woven body, and move the oval-shaped basket with woven body using the right arm.",
+    "Pick the playingcards storage box, put it inside the basket made of woven wood.",
+    "Use one arm to place the box for playingcards in the brown basket with woven ridges.",
+    "Place the smooth playingcards pack in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Move the red playingcards box to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to place the compact red playingcards pack in the brown basket, adjust the brown basket.",
+    "Grab the box for playingcards, place it in the brown basket, then move the brown basket away.",
+    "Pick up the playingcards box with white accents, put it in the light brown oval basket, shift the light brown oval basket a little.",
+    "Grab the red and yellow playingcards case, drop it in the basket for holding items, shift the basket for holding items.",
+    "Pick up the compact red playingcards pack, place it in the wooden basket with curved handle, grab the wooden basket with curved handle.",
+    "Pick the red playingcards box, drop the red playingcards box in the oval-shaped basket with woven body, slide the oval-shaped basket with woven body lightly.",
+    "Lift the rectangular playingcards case, drop it in the basket with handle, then slightly relocate the basket with handle.",
+    "Pick the glossy rectangular playingcards box, place it in the basket with handle.",
+    "Grab the small playingcards pack, drop it in the brown basket with woven ridges, then move the brown basket with woven ridges.",
+    "Take the glossy rectangular playingcards box, put the glossy rectangular playingcards box into the basket made of woven wood, shift the basket made of woven wood.",
+    "Place the red playingcards box into the brown basket with woven ridges and push the brown basket with woven ridges slightly away.",
+    "Use the left arm to pick the smooth playingcards pack, then use the right arm for the oval-shaped basket with woven body.",
+    "Pick the rectangular playingcards case, place it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket.",
+    "Lift the box for playingcards, place it into the wooden basket with curved handle, move the wooden basket with curved handle.",
+    "Pick the hand-sized playingcards container and position it in the basket with handle, move the basket with handle slightly.",
+    "Grab the box for playingcards with one arm, drop the box for playingcards in the brown basket.",
+    "Pick up the compact red playingcards pack and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Put the playingcards box with white accents in the basket with loop handle and pull the basket with loop handle away.",
+    "Pick and move the smooth playingcards pack, then shift the basket for holding items.",
+    "Use one arm to grab the smooth playingcards pack, place it in the light brown oval basket, then move the light brown oval basket."
+  ],
+  "unseen": [
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small box for playingcards and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the medium basket with smooth texture and move it.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Move the playingcards with red packaging to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the small box for playingcards and place into the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular red playingcards holder, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the basket with rounded edges.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the medium basket with smooth texture.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and put it in the basket with rounded edges.",
+    "Use one arm to grab the small box for playingcards, place it in the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the playingcards with red packaging and put it into the oval basket with medium storage space.",
+    "Place the small box for playingcards in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular red playingcards holder and drop in the oval basket with medium storage space.",
+    "Move the rectangular red playingcards holder to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular red playingcards holder and place into the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and put it into the oval basket with medium storage space.",
+    "Place the rectangular red playingcards holder in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it in the basket with rounded edges.",
+    "Use one arm to grab the playingcards with red packaging, place it in the basket with rounded edges.",
+    "Grab the small box for playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the medium basket with smooth texture.",
+    "Move the small box for playingcards to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder and place into the basket with rounded edges.",
+    "Grab the rectangular red playingcards holder and put it into the basket with rounded edges.",
+    "Place the rectangular red playingcards holder in the medium basket with smooth texture and move it.",
+    "Grab the playingcards with red packaging and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging and drop in the oval basket with medium storage space.",
+    "Move the playingcards with red packaging to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the playingcards with red packaging, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the playingcards with red packaging and place into the oval basket with medium storage space.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the basket with rounded edges and move it.",
+    "Grab the rectangular red playingcards holder and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the playingcards with red packaging, place it in the medium basket with smooth texture.",
+    "Grab the rectangular red playingcards holder, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the small box for playingcards and drop in the oval basket with medium storage space.",
+    "Move the small box for playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small box for playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the playingcards with red packaging and place into the basket with rounded edges.",
+    "Grab the small box for playingcards and put it into the basket with rounded edges.",
+    "Place the playingcards with red packaging in the oval basket with medium storage space and move it.",
+    "Grab the rectangular red playingcards holder and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the playingcards with red packaging, place it in the oval basket with medium storage space.",
+    "Grab the small box for playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the playingcards with red packaging and drop in the medium basket with smooth texture.",
+    "Move the rectangular red playingcards holder to the basket with rounded edges, then shift the basket with rounded edges."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode8.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..70586c64bb93bea90fc71ed28ca2f4f5525a0725
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the blue and white playingcards packaging in the brown basket with woven ridges, and shift the brown basket with woven ridges away.",
+    "Pick the small playingcards container and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick up the playingcards box with white symbols and set it inside the brown basket with woven ridges.",
+    "Use one arm to place the blue carton for playingcards in the basket with handle.",
+    "Grab the palm-sized playingcards carton, set it into the basket made of woven wood.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the brown basket with woven ridges, and move the brown basket with woven ridges using the left arm.",
+    "Grab the rectangular blue playingcards case, drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick up the small playingcards container and drop it in the basket for carrying things, then move the basket for carrying things.",
+    "Pick and move the palm-sized playingcards carton, then shift the smooth ribbed light brown basket.",
+    "Take the palm-sized playingcards carton, set it in the smooth ribbed light brown basket, shift the smooth ribbed light brown basket lightly.",
+    "Pick the palm-sized playingcards carton, drop the palm-sized playingcards carton in the light brown oval basket, slide the light brown oval basket lightly.",
+    "Lift the card box with golden designs using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Lift the blue playingcards box, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Take the box of playingcards, put the box of playingcards into the basket with loop handle, shift the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the basket for carrying things and pull the basket for carrying things away.",
+    "Pick up the blue playingcards box, place it in the oval-shaped basket with woven body, grab the oval-shaped basket with woven body.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with handle.",
+    "Lift the small playingcards container, place it into the basket made of woven wood, move the basket made of woven wood.",
+    "Grab the blue playingcards box, drop in the wooden basket with curved handle, and move the wooden basket with curved handle.",
+    "Grab the box of playingcards with one arm, drop the box of playingcards in the basket with handle.",
+    "Grab the box of playingcards, place it in the basket with handle, then move the basket with handle away.",
+    "Place the blue and white playingcards packaging in the basket made of woven wood, then grab the basket made of woven wood.",
+    "Pick the palm-sized playingcards carton, place it in the wooden basket with curved handle, shift the wooden basket with curved handle.",
+    "Place the smooth playingcards holder into the basket with loop handle and push the basket with loop handle slightly away.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the smooth ribbed light brown basket.",
+    "Pick the smooth playingcards holder, place it in the smooth ribbed light brown basket.",
+    "Move the blue and white playingcards packaging to the oval-shaped basket with woven body, then shift the oval-shaped basket with woven body.",
+    "Use one arm to grab the blue carton for playingcards, place it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box, put it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body a little.",
+    "Grab the playingcards pack with blue top and drop it in the woven basket.",
+    "Put the card box with golden designs in the oval-shaped basket with woven body, then move the oval-shaped basket with woven body away slightly.",
+    "Grab the blue and white playingcards packaging, drop it in the woven basket, shift the woven basket.",
+    "Use one arm to place the blue and white playingcards packaging in the wooden basket with curved handle, adjust the wooden basket with curved handle.",
+    "Set the blue pack holding playingcards in the basket for carrying things, and shift the basket for carrying things away.",
+    "Pick the rectangular blue playingcards case and position it in the wooden basket with curved handle, move the wooden basket with curved handle slightly.",
+    "Pick up the box of playingcards and set it inside the basket with loop handle.",
+    "Use one arm to place the card box with golden designs in the basket with handle.",
+    "Grab the box of playingcards, set it into the light brown oval basket.",
+    "Use the right arm to grab the card box with golden designs, place it in the light brown oval basket, and move the light brown oval basket using the left arm.",
+    "Grab the playingcards pack with blue top, drop it in the smooth ribbed light brown basket, then move the smooth ribbed light brown basket.",
+    "Pick up the blue playingcards box and drop it in the basket with loop handle, then move the basket with loop handle.",
+    "Pick and move the playingcards box with white symbols, then shift the brown basket with woven ridges.",
+    "Take the playingcards pack with blue top, set it in the brown basket, shift the brown basket lightly.",
+    "Pick the box of playingcards, drop the box of playingcards in the basket for carrying things, slide the basket for carrying things lightly.",
+    "Lift the blue and white playingcards packaging using the right arm, drop it in the wooden basket with curved handle, then push the wooden basket with curved handle via the left arm.",
+    "Lift the palm-sized playingcards carton, drop it in the oval-shaped basket with woven body, then slightly relocate the oval-shaped basket with woven body.",
+    "Take the blue playingcards box, put the blue playingcards box into the basket for carrying things, shift the basket for carrying things.",
+    "Put the blue carton for playingcards in the basket made of woven wood and pull the basket made of woven wood away.",
+    "Pick up the playingcards pack with blue top, place it in the smooth ribbed light brown basket, grab the smooth ribbed light brown basket.",
+    "Pick the box of playingcards, put it inside the wooden basket with curved handle.",
+    "Lift the card box with golden designs, place it into the brown basket with woven ridges, move the brown basket with woven ridges.",
+    "Grab the smooth playingcards holder, drop in the basket for holding items, and move the basket for holding items.",
+    "Grab the blue playingcards box with one arm, drop the blue playingcards box in the brown basket.",
+    "Grab the smooth playingcards holder, place it in the brown basket with woven ridges, then move the brown basket with woven ridges away.",
+    "Place the blue carton for playingcards in the oval-shaped basket with woven body, then grab the oval-shaped basket with woven body.",
+    "Pick the blue carton for playingcards, place it in the basket for carrying things, shift the basket for carrying things.",
+    "Place the palm-sized playingcards carton into the light brown oval basket and push the light brown oval basket slightly away.",
+    "Use the right arm to pick the blue pack holding playingcards, then use the left arm for the light brown oval basket.",
+    "Pick the box of playingcards, place it in the basket for carrying things.",
+    "Move the blue playingcards box to the wooden basket with curved handle, then shift the wooden basket with curved handle.",
+    "Use one arm to grab the box of playingcards, place it in the wooden basket with curved handle, then move the wooden basket with curved handle.",
+    "Pick up the box of playingcards, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the card box with golden designs and drop it in the basket with loop handle.",
+    "Put the card box with golden designs in the woven basket, then move the woven basket away slightly.",
+    "Grab the small playingcards container, drop it in the basket for holding items, shift the basket for holding items.",
+    "Use one arm to place the blue pack holding playingcards in the oval-shaped basket with woven body, adjust the oval-shaped basket with woven body.",
+    "Set the rectangular blue playingcards case in the smooth ribbed light brown basket, and shift the smooth ribbed light brown basket away.",
+    "Pick the rectangular blue playingcards case and position it in the basket with loop handle, move the basket with loop handle slightly.",
+    "Pick up the playingcards pack with blue top and set it inside the brown basket.",
+    "Use one arm to place the box of playingcards in the basket for holding items.",
+    "Grab the playingcards box with white symbols, set it into the brown basket.",
+    "Use the right arm to grab the smooth playingcards holder, place it in the basket with loop handle, and move the basket with loop handle using the left arm.",
+    "Grab the playingcards box with white symbols, drop it in the woven basket, then move the woven basket.",
+    "Pick up the small playingcards container and drop it in the basket made of woven wood, then move the basket made of woven wood.",
+    "Pick and move the palm-sized playingcards carton, then shift the basket with handle.",
+    "Take the blue and white playingcards packaging, set it in the oval-shaped basket with woven body, shift the oval-shaped basket with woven body lightly.",
+    "Pick the playingcards box with white symbols, drop the playingcards box with white symbols in the brown basket, slide the brown basket lightly.",
+    "Lift the box of playingcards using the right arm, drop it in the basket made of woven wood, then push the basket made of woven wood via the left arm.",
+    "Lift the blue and white playingcards packaging, drop it in the wooden basket with curved handle, then slightly relocate the wooden basket with curved handle.",
+    "Take the blue playingcards box, put the blue playingcards box into the basket for holding items, shift the basket for holding items.",
+    "Put the card box with golden designs in the brown basket and pull the brown basket away.",
+    "Pick up the blue carton for playingcards, place it in the basket with loop handle, grab the basket with loop handle.",
+    "Pick the blue and white playingcards packaging, put it inside the basket with loop handle.",
+    "Lift the rectangular blue playingcards case, place it into the smooth ribbed light brown basket, move the smooth ribbed light brown basket.",
+    "Grab the blue playingcards box, drop in the basket made of woven wood, and move the basket made of woven wood.",
+    "Grab the card box with golden designs with one arm, drop the card box with golden designs in the smooth ribbed light brown basket.",
+    "Grab the smooth playingcards holder, place it in the wooden basket with curved handle, then move the wooden basket with curved handle away.",
+    "Place the blue carton for playingcards in the basket with handle, then grab the basket with handle.",
+    "Pick the palm-sized playingcards carton, place it in the brown basket with woven ridges, shift the brown basket with woven ridges.",
+    "Place the blue and white playingcards packaging into the basket made of woven wood and push the basket made of woven wood slightly away.",
+    "Use the right arm to pick the small playingcards container, then use the left arm for the basket with handle.",
+    "Pick the blue pack holding playingcards, place it in the woven basket.",
+    "Move the blue pack holding playingcards to the basket with loop handle, then shift the basket with loop handle.",
+    "Use one arm to grab the playingcards box with white symbols, place it in the basket with handle, then move the basket with handle.",
+    "Pick up the rectangular blue playingcards case, put it in the basket for holding items, shift the basket for holding items a little.",
+    "Grab the playingcards pack with blue top and drop it in the basket with loop handle.",
+    "Put the blue and white playingcards packaging in the brown basket with woven ridges, then move the brown basket with woven ridges away slightly.",
+    "Grab the box of playingcards, drop it in the brown basket, shift the brown basket.",
+    "Use one arm to place the box of playingcards in the basket with loop handle, adjust the basket with loop handle.",
+    "Set the smooth playingcards holder in the wooden basket with curved handle, and shift the wooden basket with curved handle away."
+  ],
+  "unseen": [
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the basket with rounded edges.",
+    "Use one arm to grab the small packet of playingcards, place it in the oval basket with medium storage space.",
+    "Grab the small packet of playingcards, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards pack to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the medium basket with smooth texture, then shift the medium basket with smooth texture.",
+    "Pick up the small packet of playingcards, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the small packet of playingcards and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the medium basket with smooth texture.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the oval basket with medium storage space.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the oval basket with medium storage space.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the small packet of playingcards, place it in the basket with rounded edges.",
+    "Grab the small packet of playingcards, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the basket with rounded edges.",
+    "Move the small packet of playingcards to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards, place it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the small packet of playingcards in the oval basket with medium storage space and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the small packet of playingcards and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Grab the rectangular playingcards case with patterns and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards case with patterns and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the basket with rounded edges.",
+    "Grab the rectangular playingcards case with patterns and put it in the medium basket with smooth texture.",
+    "Use one arm to grab the rectangular playingcards pack, place it in the oval basket with medium storage space.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the rectangular playingcards pack to the oval basket with medium storage space, then shift the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the rectangular playingcards pack and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it.",
+    "Grab the rectangular playingcards case with patterns and put it into the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the medium basket with smooth texture.",
+    "Grab the rectangular playingcards case with patterns, put it in the medium basket with smooth texture, move the medium basket with smooth texture.",
+    "Grab the rectangular playingcards pack and place into the basket with rounded edges.",
+    "Move the rectangular playingcards case with patterns to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the rectangular playingcards case with patterns, place it in the oval basket with medium storage space, move the oval basket with medium storage space.",
+    "Pick up the small packet of playingcards and drop in the basket with rounded edges.",
+    "Place the rectangular playingcards case with patterns in the basket with rounded edges and move it.",
+    "Grab the rectangular playingcards pack and put it into the medium basket with smooth texture.",
+    "Grab the small packet of playingcards and put it in the oval basket with medium storage space.",
+    "Use one arm to grab the rectangular playingcards case with patterns, place it in the basket with rounded edges.",
+    "Grab the rectangular playingcards pack, put it in the basket with rounded edges, move the basket with rounded edges.",
+    "Grab the rectangular playingcards pack and place into the oval basket with medium storage space.",
+    "Move the rectangular playingcards pack to the basket with rounded edges, then shift the basket with rounded edges.",
+    "Pick up the small packet of playingcards, place it in the basket with rounded edges, move the basket with rounded edges.",
+    "Pick up the small packet of playingcards and drop in the medium basket with smooth texture.",
+    "Place the rectangular playingcards pack in the medium basket with smooth texture and move it."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/instructions/episode9.json b/place_object_basket/demo_clean_ep20_vidar/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..feacf7160b411f6aaef38a82aded72619c00e253
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the toycar with transparent windshield, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick and move the small plastic toycar, then shift the yellow basket.",
+    "Set the toycar for kids play in the yellow basket, and shift the yellow basket away.",
+    "Pick the blue and gray toycar, put it inside the basket with arched black grip.",
+    "Lift the bright sleek toycar using the right arm, drop it in the medium yellow basket with slots, then push the medium yellow basket with slots via the left arm.",
+    "Pick up the toycar for kids play and drop it in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff.",
+    "Take the blue toycar, set it in the rectangular basket with smooth surface, shift the rectangular basket with smooth surface lightly.",
+    "Pick up the small plastic toycar and set it inside the basket with black handle.",
+    "Grab the toycar with transparent windshield and drop it in the handheld basket.",
+    "Use one arm to place the bright sleek toycar in the carrying basket with black plastic handle, adjust the carrying basket with black plastic handle.",
+    "Lift the bright sleek toycar, place it into the plastic basket, move the plastic basket.",
+    "Move the blue top toycar to the yellow basket for carrying stuff, then shift the yellow basket for carrying stuff.",
+    "Grab the blue toycar, drop in the medium yellow basket with slots, and move the medium yellow basket with slots.",
+    "Use one arm to place the small plastic toycar in the rectangular yellow basket.",
+    "Grab the small plastic toycar, set it into the rectangular basket with smooth surface.",
+    "Put the toycar with black tires in the yellow basket for carrying stuff, then move the yellow basket for carrying stuff away slightly.",
+    "Pick the bright sleek toycar and position it in the rectangular yellow basket, move the rectangular yellow basket slightly.",
+    "Pick up the blue top toycar, place it in the plastic basket, grab the plastic basket.",
+    "Put the toycar with shiny wheels in the handheld basket and pull the handheld basket away.",
+    "Pick up the blue top toycar, put it in the medium yellow basket with slots, shift the medium yellow basket with slots a little.",
+    "Take the toycar with shiny wheels, put the toycar with shiny wheels into the handheld basket, shift the handheld basket.",
+    "Pick the bright sleek toycar, place it in the basket with black handle.",
+    "Grab the palm-sized blue toycar, drop it in the yellow basket, then move the yellow basket.",
+    "Pick the toycar with black tires, place it in the handheld basket, shift the handheld basket.",
+    "Grab the bright sleek toycar with one arm, drop the bright sleek toycar in the yellow basket.",
+    "Place the blue and gray toycar in the handheld basket, then grab the handheld basket.",
+    "Use one arm to grab the toycar for kids play, place it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Place the blue top toycar into the basket with perforated sides and push the basket with perforated sides slightly away.",
+    "Lift the toycar for kids play, drop it in the basket with perforated sides, then slightly relocate the basket with perforated sides.",
+    "Grab the blue toycar, drop it in the yellow basket, shift the yellow basket.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the yellow basket for carrying stuff, slide the yellow basket for carrying stuff lightly.",
+    "Use the right arm to pick the toycar with smooth texture, then use the left arm for the basket with perforated sides.",
+    "Use the right arm to grab the blue and gray toycar, place it in the handheld basket, and move the handheld basket using the left arm.",
+    "Grab the toycar with shiny plastic finish, place it in the medium yellow basket with slots, then move the medium yellow basket with slots away.",
+    "Pick and move the toycar for kids play, then shift the bright yellow basket.",
+    "Set the toycar with shiny wheels in the medium yellow basket with slots, and shift the medium yellow basket with slots away.",
+    "Pick the toycar with black tires, put it inside the basket with perforated sides.",
+    "Lift the blue toycar using the right arm, drop it in the yellow basket for carrying stuff, then push the yellow basket for carrying stuff via the left arm.",
+    "Pick up the blue toycar and drop it in the rectangular yellow basket, then move the rectangular yellow basket.",
+    "Take the toycar for kids play, set it in the plastic basket, shift the plastic basket lightly.",
+    "Pick up the toycar with black tires and set it inside the plastic basket.",
+    "Grab the toycar with transparent windshield and drop it in the plastic basket.",
+    "Use one arm to place the toycar with black tires in the handheld basket, adjust the handheld basket.",
+    "Lift the toycar with shiny wheels, place it into the plastic basket, move the plastic basket.",
+    "Move the toycar with shiny plastic finish to the basket with arched black grip, then shift the basket with arched black grip.",
+    "Grab the toycar for kids play, drop in the yellow basket, and move the yellow basket.",
+    "Use one arm to place the palm-sized blue toycar in the basket with arched black grip.",
+    "Grab the toycar with shiny plastic finish, set it into the rectangular yellow basket.",
+    "Put the palm-sized blue toycar in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away slightly.",
+    "Pick the toycar for kids play and position it in the rectangular basket with smooth surface, move the rectangular basket with smooth surface slightly.",
+    "Pick up the bright sleek toycar, place it in the basket with arched black grip, grab the basket with arched black grip.",
+    "Put the toycar with shiny wheels in the carrying basket with black plastic handle and pull the carrying basket with black plastic handle away.",
+    "Pick up the blue toycar, put it in the rectangular yellow basket, shift the rectangular yellow basket a little.",
+    "Take the toycar with smooth texture, put the toycar with smooth texture into the rectangular yellow basket, shift the rectangular yellow basket.",
+    "Pick the small plastic toycar, place it in the plastic basket.",
+    "Grab the toycar with shiny plastic finish, drop it in the basket with black handle, then move the basket with black handle.",
+    "Pick the toycar with transparent windshield, place it in the basket with black handle, shift the basket with black handle.",
+    "Grab the toycar with shiny plastic finish with one arm, drop the toycar with shiny plastic finish in the yellow basket for carrying stuff.",
+    "Place the toycar with shiny plastic finish in the medium yellow basket with slots, then grab the medium yellow basket with slots.",
+    "Use one arm to grab the toycar with transparent windshield, place it in the handheld basket, then move the handheld basket.",
+    "Place the blue and gray toycar into the plastic basket and push the plastic basket slightly away.",
+    "Lift the blue top toycar, drop it in the bright yellow basket, then slightly relocate the bright yellow basket.",
+    "Grab the blue and gray toycar, drop it in the carrying basket with black plastic handle, shift the carrying basket with black plastic handle.",
+    "Pick the toycar with black tires, drop the toycar with black tires in the plastic basket, slide the plastic basket lightly.",
+    "Use the right arm to pick the toycar with shiny wheels, then use the left arm for the rectangular yellow basket.",
+    "Use the right arm to grab the small plastic toycar, place it in the rectangular yellow basket, and move the rectangular yellow basket using the left arm.",
+    "Grab the blue toycar, place it in the bright yellow basket, then move the bright yellow basket away.",
+    "Pick and move the toycar with smooth texture, then shift the medium yellow basket with slots.",
+    "Set the toycar with shiny wheels in the basket with arched black grip, and shift the basket with arched black grip away.",
+    "Pick the blue top toycar, put it inside the basket with perforated sides.",
+    "Lift the toycar with transparent windshield using the right arm, drop it in the yellow basket, then push the yellow basket via the left arm.",
+    "Pick up the blue and gray toycar and drop it in the basket with black handle, then move the basket with black handle.",
+    "Take the toycar with black tires, set it in the handheld basket, shift the handheld basket lightly.",
+    "Pick up the toycar for kids play and set it inside the handheld basket.",
+    "Grab the small plastic toycar and drop it in the rectangular basket with smooth surface.",
+    "Use one arm to place the toycar with shiny plastic finish in the basket with arched black grip, adjust the basket with arched black grip.",
+    "Lift the toycar with shiny plastic finish, place it into the bright yellow basket, move the bright yellow basket.",
+    "Move the toycar with smooth texture to the plastic basket, then shift the plastic basket.",
+    "Grab the toycar for kids play, drop in the rectangular basket with smooth surface, and move the rectangular basket with smooth surface.",
+    "Use one arm to place the blue top toycar in the handheld basket.",
+    "Grab the palm-sized blue toycar, set it into the rectangular basket with smooth surface.",
+    "Put the blue and gray toycar in the handheld basket, then move the handheld basket away slightly.",
+    "Pick the toycar with shiny plastic finish and position it in the basket with arched black grip, move the basket with arched black grip slightly.",
+    "Pick up the toycar with shiny wheels, place it in the basket with black handle, grab the basket with black handle.",
+    "Put the toycar for kids play in the basket with arched black grip and pull the basket with arched black grip away.",
+    "Pick up the toycar for kids play, put it in the plastic basket, shift the plastic basket a little.",
+    "Take the toycar with transparent windshield, put the toycar with transparent windshield into the yellow basket for carrying stuff, shift the yellow basket for carrying stuff.",
+    "Pick the blue top toycar, place it in the carrying basket with black plastic handle.",
+    "Grab the blue and gray toycar, drop it in the medium yellow basket with slots, then move the medium yellow basket with slots.",
+    "Pick the toycar with shiny wheels, place it in the handheld basket, shift the handheld basket.",
+    "Grab the toycar with smooth texture with one arm, drop the toycar with smooth texture in the basket with perforated sides.",
+    "Place the palm-sized blue toycar in the basket with arched black grip, then grab the basket with arched black grip.",
+    "Use one arm to grab the toycar for kids play, place it in the plastic basket, then move the plastic basket.",
+    "Place the toycar with shiny plastic finish into the yellow basket and push the yellow basket slightly away.",
+    "Lift the toycar with smooth texture, drop it in the rectangular basket with smooth surface, then slightly relocate the rectangular basket with smooth surface.",
+    "Grab the palm-sized blue toycar, drop it in the basket with perforated sides, shift the basket with perforated sides.",
+    "Pick the toycar with shiny plastic finish, drop the toycar with shiny plastic finish in the medium yellow basket with slots, slide the medium yellow basket with slots lightly.",
+    "Use the right arm to pick the toycar with shiny wheels, then use the left arm for the rectangular basket with smooth surface.",
+    "Use the right arm to grab the blue toycar, place it in the medium yellow basket with slots, and move the medium yellow basket with slots using the left arm.",
+    "Grab the toycar with shiny plastic finish, place it in the rectangular basket with smooth surface, then move the rectangular basket with smooth surface away."
+  ],
+  "unseen": [
+    "Pick up the gray base toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the gray base toycar, place it in the yellow basket with open slots.",
+    "Place the toycar with rounded body in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with rounded body to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and place into the yellow rectangular basket with dual grips.",
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it in the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the compact toycar with rotating wheels, place it in the yellow basket with open slots.",
+    "Place the toycar with rounded body in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the gray base toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and place into the yellow basket with open slots.",
+    "Grab the gray base toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gray base toycar, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the toycar with rounded body to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and place into the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the gray base toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with rotating wheels in the yellow basket with open slots and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the toycar with rounded body and drop in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and place into the yellow basket with open slots.",
+    "Grab the toycar with rounded body, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the gray base toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the medium-sized basket with perforated texture and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body and drop in the yellow basket with open slots.",
+    "Grab the toycar with rounded body and place into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow rectangular basket with dual grips.",
+    "Pick up the gray base toycar, place it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded body in the yellow rectangular basket with dual grips and move it.",
+    "Move the gray base toycar to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and place into the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and put it in the yellow basket with open slots.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Place the toycar with rounded body in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body, put it in the medium-sized basket with perforated texture, move the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar and put it into the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Place the toycar with rounded body in the medium-sized basket with perforated texture and move it.",
+    "Move the toycar with rounded body to the medium-sized basket with perforated texture, then shift the medium-sized basket with perforated texture.",
+    "Pick up the gray base toycar and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Grab the gray base toycar, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it in the medium-sized basket with perforated texture.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow rectangular basket with dual grips.",
+    "Place the gray base toycar in the yellow basket with open slots and move it.",
+    "Move the toycar with rounded body to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the toycar with rounded body and drop in the medium-sized basket with perforated texture.",
+    "Grab the toycar with rounded body and place into the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels, put it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the gray base toycar and put it in the yellow basket with open slots.",
+    "Pick up the gray base toycar, place it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Use one arm to grab the toycar with rounded body, place it in the yellow basket with open slots.",
+    "Place the gray base toycar in the yellow rectangular basket with dual grips and move it.",
+    "Move the compact toycar with rotating wheels to the yellow basket with open slots, then shift the yellow basket with open slots.",
+    "Pick up the gray base toycar and drop in the yellow rectangular basket with dual grips.",
+    "Grab the toycar with rounded body and place into the medium-sized basket with perforated texture.",
+    "Grab the gray base toycar, put it in the yellow basket with open slots, move the yellow basket with open slots.",
+    "Grab the compact toycar with rotating wheels and put it into the yellow basket with open slots.",
+    "Grab the gray base toycar and put it in the yellow basket with open slots.",
+    "Pick up the compact toycar with rotating wheels, place it in the yellow rectangular basket with dual grips, move the yellow rectangular basket with dual grips.",
+    "Use one arm to grab the gray base toycar, place it in the yellow rectangular basket with dual grips.",
+    "Place the compact toycar with rotating wheels in the medium-sized basket with perforated texture and move it.",
+    "Move the gray base toycar to the yellow rectangular basket with dual grips, then shift the yellow rectangular basket with dual grips.",
+    "Pick up the compact toycar with rotating wheels and drop in the medium-sized basket with perforated texture."
+  ]
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/scene_info.json b/place_object_basket/demo_clean_ep20_vidar/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2a5febcc1fa0cdb2de0fd1857a390824a21bd3
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/scene_info.json
@@ -0,0 +1,262 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base1",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base2",
+            "{B}": "110_basket/base1",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base1",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base1",
+            "{B}": "110_basket/base1",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base2",
+            "{B}": "110_basket/base1",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base1",
+            "{B}": "110_basket/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base1",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base3",
+            "{B}": "110_basket/base1",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base1",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base2",
+            "{B}": "110_basket/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base0",
+            "{B}": "110_basket/base1",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "081_playingcards/base2",
+            "{B}": "110_basket/base0",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "057_toycar/base1",
+            "{B}": "110_basket/base0",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_object_basket/demo_clean_ep20_vidar/seed.txt b/place_object_basket/demo_clean_ep20_vidar/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b963ebe38779d1910ba97a99b090b481a105d666
--- /dev/null
+++ b/place_object_basket/demo_clean_ep20_vidar/seed.txt
@@ -0,0 +1 @@
+2 3 4 6 8 9 10 13 14 18 21 22 23 24 25 26 27 28 30 31 
\ No newline at end of file