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beat_block_hammer/demo_clean_ep20_vidar/instructions/episode10.json

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+{
+  "seen": [
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Hold the grippy handle hammer and pound the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick the silver hammer and smash the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the silver hammer and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the silver hammer and beat the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Take the hammer with claw-shaped end and smash the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}

beat_block_hammer/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the hammer for nails and strike the block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the silver hammer, then strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Lift the silver hammer with the left arm then strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block."
+  ]
+}

beat_block_hammer/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the silver hammer and beat the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Pick up the hammer for nails and use it on the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Take the silver curved hammer head and hammer the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the nail-driving hammer and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Lift the nail-driving hammer and hit the block.",
+    "Beat the block after grabbing the silver curved hammer head"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}

beat_block_hammer/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}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    }
+}

beat_block_hammer/demo_clean_ep20_vidar/seed.txt

@@ -0,0 +1 @@
+0 1 2 3 5 6 7 8 10 12 13 15 16 17 18 19 20 21 22 24 

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."
+  ],
+  "unseen": [
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.",
+    "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.",
+    "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.",
+    "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.",
+    "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right."
+  ],
+  "unseen": [
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block."
+  ],
+  "unseen": [
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block."
+  ],
+  "unseen": [
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right."
+  ],
+  "unseen": [
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last."
+  ],
+  "unseen": [
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right."
+  ],
+  "unseen": [
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block."
+  ],
+  "unseen": [
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right."
+  ],
+  "unseen": [
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block."
+  ],
+  "unseen": [
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."
+  ],
+  "unseen": [
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue."
+  ],
+  "unseen": [
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block."
+  ],
+  "unseen": [
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block."
+  ],
+  "unseen": [
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.",
+    "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block."
+  ],
+  "unseen": [
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.",
+    "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.",
+    "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.",
+    "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right."
+  ],
+  "unseen": [
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode6.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order."
+  ],
+  "unseen": [
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.",
+    "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row."
+  ],
+  "unseen": [
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode8.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.",
+    "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.",
+    "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.",
+    "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.",
+    "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.",
+    "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.",
+    "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row."
+  ],
+  "unseen": [
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Place red block on the left, then set green block to its right and blue block next to green block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/instructions/episode9.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.",
+    "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.",
+    "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.",
+    "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.",
+    "red block, then green block, and finally blue block should be placed in a row from left to right.",
+    "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.",
+    "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.",
+    "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.",
+    "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.",
+    "Start with red block, followed by green block and blue block, placing them in order left to right.",
+    "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.",
+    "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.",
+    "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.",
+    "Position red block first, followed by green block, and end with blue block in a row from left to right.",
+    "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.",
+    "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.",
+    "Grab and place red block first, followed by green block, and finish with blue block in a row.",
+    "First, place red block, then green block beside it, and finally blue block next to green block.",
+    "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.",
+    "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.",
+    "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.",
+    "Begin by placing red block on the left, then add green block to the right, and finish with blue block.",
+    "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.",
+    "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.",
+    "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.",
+    "Position red block first, green block second, and blue block third in a row from left to right.",
+    "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.",
+    "Start with red block on the left, add green block next to it, and then place blue block on the right.",
+    "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.",
+    "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.",
+    "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.",
+    "Position red block, green block, and blue block from left to right in the specified sequence.",
+    "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.",
+    "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.",
+    "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.",
+    "Position red block, green block, and blue block in a left-to-right sequence, forming a row.",
+    "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.",
+    "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.",
+    "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.",
+    "Place red block first on the far left, green block next to it, and blue block last on the far right.",
+    "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.",
+    "Place red block first, set green block beside it, and complete the row by positioning blue block.",
+    "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.",
+    "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.",
+    "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.",
+    "Line up the objects in the order red block, green block, and blue block, starting from the left.",
+    "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.",
+    "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right."
+  ],
+  "unseen": [
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.",
+    "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.",
+    "Arrange red block, green block, and blue block from left to right in a row.",
+    "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.",
+    "Arrange red block, green block, and blue block side by side, starting with red block on the left.",
+    "Place red block, green block, and blue block sequentially in a row, starting with red block.",
+    "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.",
+    "Set red block on the left, then green block in the center, and finally blue block on the right.",
+    "Place red block on the left, then set green block to its right and blue block next to green block.",
+    "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.",
+    "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block."
+  ]
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/scene_info.json

@@ -0,0 +1,302 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "left",
+            "{c}": "right"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "left",
+            "{b}": "right",
+            "{c}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "red block",
+            "{B}": "green block",
+            "{C}": "blue block",
+            "{a}": "right",
+            "{b}": "right",
+            "{c}": "left"
+        }
+    }
+}

blocks_ranking_rgb/demo_clean_ep20_vidar/seed.txt

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode0.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode12.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode13.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode17.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode2.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode4.json

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

place_dual_shoes/demo_clean_ep20_vidar/instructions/episode7.json

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

place_empty_cup/demo_clean_ep20_vidar/instructions/episode0.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the arm, align the smooth blue drinking cup over the flat round wooden coaster",
+    "Position the rounded base blue cup on the flat surface gray wooden coaster with the arm.",
+    "Direct the cup for holding liquids to the light gray streaked wooden coaster and let it rest.",
+    "Position the rounded base blue cup carefully on the coaster with circular shape",
+    "Use an arm to drop the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Grab the plastic cup for drinks and place it on the light gray streaked wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster using the arm",
+    "Grab the smooth blue cup for liquids and set it onto the round coaster.",
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm",
+    "Use the arm to set the smooth blue cup for liquids on the small coaster with grain texture",
+    "Lift the blue rounded-bottom cup and stick it onto the small coaster with grain texture.",
+    "Slide the medium-sized plastic blue cup onto the coaster with circular shape with the arm.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Slide the cup with light blue color onto the flat round wooden coaster",
+    "Pick the cylindrical light blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Stick the rounded base blue cup onto the round coaster with light streaks using the arm.",
+    "Grab the medium blue cylindrical cup and lower it onto the small coaster with grain texture",
+    "Use the arm to slide the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Set the plastic cup for drinks carefully onto the flat surface gray wooden coaster",
+    "Set the smooth blue cup for liquids onto the round coaster with light streaks using the arm.",
+    "Relocate the blue rounded-bottom cup precisely onto the coaster with circular shape with arm",
+    "Move the smooth blue cup for liquids to the coaster with circular shape using the arm.",
+    "Set the blue rounded-bottom cup securely on the small coaster with grain texture using the arm.",
+    "Lift the smooth blue drinking cup and place it onto the flat surface gray wooden coaster.",
+    "Place the cup with smooth plastic surface on top of the round coaster",
+    "Align the cup with smooth plastic surface and set it down on the grainy texture coaster",
+    "Use arm to place the cup with light blue color on the coaster made of smooth wood",
+    "Grab the medium-sized plastic blue cup, then place it onto the smooth round palm-sized coaster.",
+    "Drop the plastic cup for drinks on top of the coaster with circular shape.",
+    "Slide the cup with light blue color gently onto the wooden coaster via the arm.",
+    "Drop the medium blue cylindrical cup firmly on the coaster made of smooth wood using arm",
+    "Use the arm to put the smooth blue drinking cup onto the coaster with circular shape.",
+    "Grab the light blue plastic cup and place it over the wooden coaster.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster carefully.",
+    "Set the cup for holding liquids down on the wooden coaster",
+    "Set the smooth blue cup for liquids on the round coaster with light streaks using the arm.",
+    "Lift the rounded base blue cup and place it over the flat round wooden coaster",
+    "Using the arm, slide the plastic cup for drinks onto the round coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Position the cup for holding liquids squarely on top of the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the coaster with circular shape",
+    "Lift the light blue plastic cup up and drop it on the small coaster with grain texture.",
+    "Use an arm to place the cup with smooth plastic surface on the round coaster",
+    "Move the light blue plastic cup using the arm onto the wooden coaster.",
+    "Use the arm to position the cup with light blue color on the wooden coaster.",
+    "Use the arm to position the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Position the blue rounded-bottom cup above and drop it on the coaster with circular shape",
+    "Make sure the smooth blue cup for liquids ends up on the coaster made of smooth wood.",
+    "Carefully place the cup with light blue color onto the grainy texture coaster without arm",
+    "Using the arm, align the blue rounded-bottom cup over the flat round wooden coaster",
+    "Position the cup for holding liquids on the small coaster with grain texture with the arm.",
+    "Direct the cup with light blue color to the small coaster with grain texture and let it rest.",
+    "Position the cup with smooth plastic surface carefully on the light gray streaked wooden coaster",
+    "Use an arm to drop the light blue plastic cup on the coaster made of smooth wood",
+    "Grab the blue rounded-bottom cup and place it on the round coaster with light streaks.",
+    "Stick the smooth blue cup for liquids onto the coaster made of smooth wood using the arm",
+    "Grab the plastic cup for drinks and set it onto the light gray streaked wooden coaster.",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster with the arm",
+    "Use the arm to set the cup for holding liquids on the round coaster",
+    "Lift the medium-sized plastic blue cup and stick it onto the wooden coaster.",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Slide the cup with smooth plastic surface onto the small coaster with grain texture",
+    "Pick the blue rounded-bottom cup up and drop it on the light gray round grainy coaster.",
+    "Stick the medium blue cylindrical cup onto the light gray streaked wooden coaster using the arm.",
+    "Grab the cup for holding liquids and lower it onto the small coaster with grain texture",
+    "Use the arm to slide the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Set the cup with smooth plastic surface carefully onto the coaster made of smooth wood",
+    "Set the cylindrical light blue cup onto the round coaster using the arm.",
+    "Relocate the smooth blue cup for liquids precisely onto the small coaster with grain texture with arm",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape using the arm.",
+    "Set the light blue plastic cup securely on the light gray round grainy coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it onto the wooden coaster.",
+    "Place the smooth blue drinking cup on top of the coaster with circular shape",
+    "Align the cup with smooth plastic surface and set it down on the light gray round grainy coaster",
+    "Use arm to place the cup with smooth plastic surface on the flat surface gray wooden coaster",
+    "Grab the medium blue cylindrical cup, then place it onto the light gray streaked wooden coaster.",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Slide the cup with light blue color gently onto the wooden coaster via the arm.",
+    "Drop the blue rounded-bottom cup firmly on the light gray streaked wooden coaster using arm",
+    "Use the arm to put the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Grab the plastic cup for drinks and place it over the wooden coaster.",
+    "Stick the plastic cup for drinks onto the flat surface gray wooden coaster carefully.",
+    "Set the cylindrical light blue cup down on the coaster made of smooth wood",
+    "Set the cup for holding liquids on the light gray round grainy coaster using the arm.",
+    "Lift the cylindrical light blue cup and place it over the flat round wooden coaster",
+    "Using the arm, slide the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Using the arm, drop the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the light gray round grainy coaster.",
+    "Move the plastic cup for drinks to the wooden coaster",
+    "Lift the smooth blue cup for liquids up and drop it on the light gray streaked wooden coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the round coaster",
+    "Move the smooth blue cup for liquids using the arm onto the small coaster with grain texture.",
+    "Use the arm to position the cup for holding liquids on the round coaster with light streaks.",
+    "Use the arm to position the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the cup with light blue color on the flat round wooden coaster.",
+    "Position the cup with light blue color above and drop it on the coaster with circular shape",
+    "Make sure the smooth blue drinking cup ends up on the flat round wooden coaster.",
+    "Carefully place the cup with smooth plastic surface onto the small coaster with grain texture without arm"
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode1.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the cup for holding liquids on top of the flat round wooden coaster",
+    "Use an arm to drop the cup for holding liquids on the light gray streaked wooden coaster",
+    "Carefully place the blue rounded-bottom cup onto the light gray streaked wooden coaster without arm",
+    "Stick the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Set the cup with smooth plastic surface on the wooden coaster using the arm.",
+    "Set the plastic cup for drinks carefully onto the smooth round palm-sized coaster",
+    "Grab the rounded base blue cup and lower it onto the coaster made of smooth wood",
+    "Position the rounded base blue cup carefully on the small coaster with grain texture",
+    "Drop the cylindrical light blue cup on top of the round coaster.",
+    "Direct the cup for holding liquids to the light gray round grainy coaster and let it rest.",
+    "Move the cylindrical light blue cup onto the flat surface gray wooden coaster with the arm",
+    "Move the smooth blue cup for liquids to the wooden coaster using the arm.",
+    "Stick the blue rounded-bottom cup onto the small coaster with grain texture using the arm",
+    "Position the cup with light blue color squarely on top of the round coaster.",
+    "Use the arm to set the light blue plastic cup on the round coaster with light streaks",
+    "Use the arm to put the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Lift the blue rounded-bottom cup up and drop it on the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids and place it onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the light gray streaked wooden coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Pick the light blue plastic cup up and drop it on the round coaster.",
+    "Set the cylindrical light blue cup securely on the light gray streaked wooden coaster using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the coaster made of smooth wood via the arm.",
+    "Drop the plastic cup for drinks firmly on the grainy texture coaster using arm",
+    "Grab the smooth blue drinking cup, then place it onto the coaster made of smooth wood.",
+    "Move the blue rounded-bottom cup using the arm onto the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup down on the flat surface gray wooden coaster",
+    "Use the arm to slide the plastic cup for drinks onto the flat round wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it on the wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the flat surface gray wooden coaster",
+    "Use the arm to position the cylindrical light blue cup on the coaster with circular shape.",
+    "Use an arm to place the cup with light blue color on the light gray round grainy coaster",
+    "Use an arm to drop the light blue plastic cup on the flat round wooden coaster.",
+    "Set the plastic cup for drinks onto the light gray streaked wooden coaster using the arm.",
+    "Relocate the medium-sized plastic blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Stick the rounded base blue cup onto the flat surface gray wooden coaster carefully.",
+    "Position the smooth blue drinking cup above and drop it on the coaster with circular shape",
+    "Align the smooth blue cup for liquids and set it down on the coaster with circular shape",
+    "Lift the cup for holding liquids and stick it onto the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the flat surface gray wooden coaster",
+    "Using the arm, align the rounded base blue cup over the coaster with circular shape",
+    "Grab the cup with light blue color and set it onto the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster and set it down.",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster with the arm.",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster",
+    "Position the light blue plastic cup on the round coaster with light streaks with the arm.",
+    "Make sure the light blue plastic cup ends up on the grainy texture coaster.",
+    "Use the arm to position the smooth blue drinking cup onto the grainy texture coaster.",
+    "Using the arm, drop the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color and place it over the round coaster.",
+    "Place the plastic cup for drinks on top of the wooden coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Carefully place the blue rounded-bottom cup onto the smooth round palm-sized coaster without arm",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm.",
+    "Set the rounded base blue cup on the round coaster with light streaks using the arm.",
+    "Set the blue rounded-bottom cup carefully onto the flat round wooden coaster",
+    "Grab the medium-sized plastic blue cup and lower it onto the grainy texture coaster",
+    "Position the plastic cup for drinks carefully on the round coaster with light streaks",
+    "Drop the cup with light blue color on top of the light gray streaked wooden coaster.",
+    "Direct the plastic cup for drinks to the round coaster with light streaks and let it rest.",
+    "Move the cup for holding liquids onto the round coaster with the arm",
+    "Move the rounded base blue cup to the wooden coaster using the arm.",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster using the arm",
+    "Position the cup with smooth plastic surface squarely on top of the light gray streaked wooden coaster.",
+    "Use the arm to set the cup for holding liquids on the coaster made of smooth wood",
+    "Use the arm to put the rounded base blue cup onto the small coaster with grain texture.",
+    "Lift the rounded base blue cup up and drop it on the round coaster with light streaks.",
+    "Lift the cup for holding liquids and place it onto the flat surface gray wooden coaster.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Pick the cylindrical light blue cup up and drop it on the light gray round grainy coaster.",
+    "Set the light blue plastic cup securely on the smooth round palm-sized coaster using the arm.",
+    "Slide the smooth blue cup for liquids gently onto the flat round wooden coaster via the arm.",
+    "Drop the cup for holding liquids firmly on the grainy texture coaster using arm",
+    "Grab the plastic cup for drinks, then place it onto the round coaster.",
+    "Move the plastic cup for drinks using the arm onto the coaster with circular shape.",
+    "Set the plastic cup for drinks down on the wooden coaster",
+    "Use the arm to slide the cylindrical light blue cup onto the round coaster.",
+    "Grab the light blue plastic cup and place it on the wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm to place the rounded base blue cup on the wooden coaster",
+    "Use an arm to drop the blue rounded-bottom cup on the round coaster.",
+    "Set the medium blue cylindrical cup onto the grainy texture coaster using the arm.",
+    "Relocate the rounded base blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Stick the rounded base blue cup onto the light gray streaked wooden coaster carefully.",
+    "Position the smooth blue drinking cup above and drop it on the light gray round grainy coaster",
+    "Align the cup with light blue color and set it down on the grainy texture coaster",
+    "Lift the cup with light blue color and stick it onto the round coaster.",
+    "Lift the light blue plastic cup and place it over the flat surface gray wooden coaster",
+    "Using the arm, align the cylindrical light blue cup over the light gray round grainy coaster",
+    "Grab the rounded base blue cup and set it onto the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup to the light gray round grainy coaster and set it down.",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm.",
+    "Slide the rounded base blue cup onto the round coaster with light streaks",
+    "Position the plastic cup for drinks on the flat surface gray wooden coaster with the arm.",
+    "Make sure the cup with smooth plastic surface ends up on the flat surface gray wooden coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster.",
+    "Grab the rounded base blue cup and place it over the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode10.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the medium blue cylindrical cup onto the light gray round grainy coaster using the arm.",
+    "Position the medium-sized plastic blue cup on the coaster made of smooth wood with the arm.",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Move the blue rounded-bottom cup to the grainy texture coaster using the arm.",
+    "Grab the cup with smooth plastic surface and place it over the wooden coaster.",
+    "Relocate the rounded base blue cup precisely onto the wooden coaster with arm",
+    "Align the cup with light blue color and set it down on the grainy texture coaster",
+    "Using the arm, align the cup with smooth plastic surface over the flat surface gray wooden coaster",
+    "Using the arm, drop the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the round coaster with light streaks using the arm",
+    "Pick the smooth blue cup for liquids up and drop it on the coaster made of smooth wood.",
+    "Use the arm to slide the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Grab the plastic cup for drinks and set it onto the smooth round palm-sized coaster.",
+    "Use the arm to put the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Drop the light blue plastic cup firmly on the flat surface gray wooden coaster using arm",
+    "Set the cup for holding liquids down on the coaster with circular shape",
+    "Use arm to place the medium blue cylindrical cup on the coaster made of smooth wood",
+    "Lift the plastic cup for drinks and place it over the coaster with circular shape",
+    "Position the cup with light blue color squarely on top of the light gray streaked wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the small coaster with grain texture carefully.",
+    "Move the smooth blue drinking cup to the smooth round palm-sized coaster",
+    "Place the plastic cup for drinks on top of the flat round wooden coaster",
+    "Use an arm to place the medium-sized plastic blue cup on the grainy texture coaster",
+    "Lift the rounded base blue cup and place it onto the flat surface gray wooden coaster.",
+    "Carefully place the cup for holding liquids onto the light gray streaked wooden coaster without arm",
+    "Slide the cup for holding liquids onto the coaster with circular shape",
+    "Grab the blue rounded-bottom cup and lower it onto the round coaster with light streaks",
+    "Use the arm to position the medium blue cylindrical cup onto the wooden coaster.",
+    "Set the blue rounded-bottom cup on the small coaster with grain texture using the arm.",
+    "Use an arm to drop the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Slide the cylindrical light blue cup gently onto the flat surface gray wooden coaster via the arm.",
+    "Slide the cylindrical light blue cup onto the light gray round grainy coaster with the arm.",
+    "Using the arm, slide the cup with smooth plastic surface onto the wooden coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the flat surface gray wooden coaster.",
+    "Drop the smooth blue drinking cup on top of the grainy texture coaster.",
+    "Set the cylindrical light blue cup carefully onto the flat surface gray wooden coaster",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster and set it down.",
+    "Use the arm to set the cup with light blue color on the small coaster with grain texture",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Stick the plastic cup for drinks onto the coaster with circular shape using the arm.",
+    "Direct the medium-sized plastic blue cup to the light gray round grainy coaster and let it rest.",
+    "Move the plastic cup for drinks onto the flat surface gray wooden coaster with the arm",
+    "Grab the medium-sized plastic blue cup and place it on the flat round wooden coaster.",
+    "Make sure the smooth blue cup for liquids ends up on the flat surface gray wooden coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the round coaster.",
+    "Lift the cup with light blue color and stick it onto the wooden coaster.",
+    "Position the cup for holding liquids carefully on the flat surface gray wooden coaster",
+    "Position the smooth blue drinking cup above and drop it on the light gray streaked wooden coaster",
+    "Lift the blue rounded-bottom cup up and drop it on the flat round wooden coaster.",
+    "Set the light blue plastic cup onto the light gray round grainy coaster using the arm.",
+    "Position the smooth blue cup for liquids on the flat round wooden coaster with the arm.",
+    "Use the arm to position the cup with light blue color on the grainy texture coaster.",
+    "Move the light blue plastic cup to the wooden coaster using the arm.",
+    "Grab the plastic cup for drinks and place it over the flat surface gray wooden coaster.",
+    "Relocate the blue rounded-bottom cup precisely onto the small coaster with grain texture with arm",
+    "Align the cup with smooth plastic surface and set it down on the coaster made of smooth wood",
+    "Using the arm, align the cup with light blue color over the round coaster with light streaks",
+    "Using the arm, drop the cylindrical light blue cup onto the grainy texture coaster.",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture using the arm",
+    "Pick the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Use an arm to drop the rounded base blue cup on the small coaster with grain texture",
+    "Grab the smooth blue drinking cup and set it onto the round coaster with light streaks.",
+    "Use the arm to put the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Drop the cup with light blue color firmly on the coaster made of smooth wood using arm",
+    "Set the smooth blue cup for liquids down on the wooden coaster",
+    "Use arm to place the smooth blue drinking cup on the grainy texture coaster",
+    "Lift the medium-sized plastic blue cup and place it over the small coaster with grain texture",
+    "Position the cylindrical light blue cup squarely on top of the flat surface gray wooden coaster.",
+    "Stick the cup with light blue color onto the round coaster with light streaks carefully.",
+    "Move the cup with light blue color to the round coaster",
+    "Place the light blue plastic cup on top of the wooden coaster",
+    "Use an arm to place the blue rounded-bottom cup on the smooth round palm-sized coaster",
+    "Lift the medium blue cylindrical cup and place it onto the coaster with circular shape.",
+    "Carefully place the cup for holding liquids onto the smooth round palm-sized coaster without arm",
+    "Slide the cup with light blue color onto the coaster made of smooth wood",
+    "Grab the cup with light blue color and lower it onto the light gray streaked wooden coaster",
+    "Use the arm to position the light blue plastic cup onto the coaster made of smooth wood.",
+    "Set the cup with light blue color on the light gray round grainy coaster using the arm.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Slide the plastic cup for drinks gently onto the smooth round palm-sized coaster via the arm.",
+    "Slide the rounded base blue cup onto the smooth round palm-sized coaster with the arm.",
+    "Using the arm, slide the smooth blue cup for liquids onto the round coaster.",
+    "Move the medium blue cylindrical cup using the arm onto the light gray streaked wooden coaster.",
+    "Drop the cylindrical light blue cup on top of the round coaster with light streaks.",
+    "Set the cylindrical light blue cup carefully onto the small coaster with grain texture",
+    "Move the cup with light blue color to the round coaster and set it down.",
+    "Use the arm to set the smooth blue drinking cup on the small coaster with grain texture",
+    "Set the smooth blue cup for liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Direct the rounded base blue cup to the coaster with circular shape and let it rest.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture with the arm",
+    "Grab the cup with smooth plastic surface and place it on the smooth round palm-sized coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the grainy texture coaster.",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the coaster made of smooth wood.",
+    "Position the smooth blue cup for liquids carefully on the light gray streaked wooden coaster",
+    "Position the smooth blue drinking cup above and drop it on the flat surface gray wooden coaster",
+    "Lift the cup for holding liquids up and drop it on the wooden coaster."
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode11.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the plastic cup for drinks gently onto the round coaster via the arm.",
+    "Use an arm to drop the cup with light blue color on the coaster made of smooth wood",
+    "Set the cup for holding liquids onto the coaster with circular shape using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the round coaster",
+    "Align the medium-sized plastic blue cup and set it down on the light gray round grainy coaster",
+    "Drop the smooth blue cup for liquids firmly on the coaster made of smooth wood using arm",
+    "Position the smooth blue cup for liquids carefully on the wooden coaster",
+    "Lift the blue rounded-bottom cup and place it onto the light gray round grainy coaster.",
+    "Use an arm to place the cup for holding liquids on the small coaster with grain texture",
+    "Make sure the blue rounded-bottom cup ends up on the light gray streaked wooden coaster.",
+    "Position the cup with light blue color above and drop it on the grainy texture coaster",
+    "Stick the cup with light blue color onto the small coaster with grain texture using the arm.",
+    "Slide the plastic cup for drinks onto the light gray streaked wooden coaster with the arm.",
+    "Move the cup for holding liquids using the arm onto the coaster made of smooth wood.",
+    "Grab the cup with light blue color and place it on the light gray streaked wooden coaster.",
+    "Using the arm, align the light blue plastic cup over the flat round wooden coaster",
+    "Stick the smooth blue drinking cup onto the coaster made of smooth wood carefully.",
+    "Grab the cup for holding liquids, then place it onto the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup to the round coaster using the arm.",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster using the arm",
+    "Lift the smooth blue cup for liquids and place it over the flat surface gray wooden coaster",
+    "Carefully place the medium-sized plastic blue cup onto the light gray streaked wooden coaster without arm",
+    "Direct the cup with smooth plastic surface to the light gray streaked wooden coaster and let it rest.",
+    "Use arm to place the plastic cup for drinks on the small coaster with grain texture",
+    "Move the smooth blue drinking cup onto the light gray streaked wooden coaster with the arm",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Move the smooth blue drinking cup to the coaster with circular shape and set it down.",
+    "Place the medium-sized plastic blue cup on top of the wooden coaster",
+    "Move the smooth blue cup for liquids to the light gray round grainy coaster",
+    "Lift the cup for holding liquids and stick it onto the round coaster.",
+    "Grab the cup with smooth plastic surface and set it onto the flat round wooden coaster.",
+    "Position the smooth blue drinking cup squarely on top of the flat round wooden coaster.",
+    "Drop the cup for holding liquids on top of the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids and place it over the grainy texture coaster.",
+    "Position the smooth blue cup for liquids on the round coaster with the arm.",
+    "Use the arm to position the rounded base blue cup on the light gray round grainy coaster.",
+    "Use the arm to slide the cup for holding liquids onto the round coaster.",
+    "Grab the cup with light blue color and lower it onto the coaster with circular shape",
+    "Pick the medium-sized plastic blue cup up and drop it on the wooden coaster.",
+    "Lift the light blue plastic cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup on the light gray round grainy coaster using the arm.",
+    "Use the arm to put the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use an arm to drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Use the arm to set the cup for holding liquids on the round coaster with light streaks",
+    "Set the medium-sized plastic blue cup down on the wooden coaster",
+    "Set the medium-sized plastic blue cup securely on the round coaster with light streaks using the arm.",
+    "Slide the cylindrical light blue cup onto the light gray round grainy coaster",
+    "Use the arm to position the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Relocate the cylindrical light blue cup precisely onto the light gray round grainy coaster with arm",
+    "Slide the rounded base blue cup gently onto the flat round wooden coaster via the arm.",
+    "Use an arm to drop the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Set the cup for holding liquids onto the flat surface gray wooden coaster using the arm.",
+    "Set the smooth blue cup for liquids carefully onto the coaster made of smooth wood",
+    "Align the cylindrical light blue cup and set it down on the round coaster with light streaks",
+    "Drop the cylindrical light blue cup firmly on the light gray streaked wooden coaster using arm",
+    "Position the cylindrical light blue cup carefully on the light gray streaked wooden coaster",
+    "Lift the cup for holding liquids and place it onto the light gray streaked wooden coaster.",
+    "Use an arm to place the cup with smooth plastic surface on the smooth round palm-sized coaster",
+    "Make sure the rounded base blue cup ends up on the coaster with circular shape.",
+    "Position the cup for holding liquids above and drop it on the smooth round palm-sized coaster",
+    "Stick the cylindrical light blue cup onto the coaster with circular shape using the arm.",
+    "Slide the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm.",
+    "Move the cup for holding liquids using the arm onto the round coaster.",
+    "Grab the cup with smooth plastic surface and place it on the wooden coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture",
+    "Stick the medium blue cylindrical cup onto the round coaster carefully.",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray streaked wooden coaster.",
+    "Move the plastic cup for drinks to the wooden coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood using the arm",
+    "Lift the cup for holding liquids and place it over the smooth round palm-sized coaster",
+    "Carefully place the cup for holding liquids onto the flat round wooden coaster without arm",
+    "Direct the medium blue cylindrical cup to the flat surface gray wooden coaster and let it rest.",
+    "Use arm to place the smooth blue drinking cup on the round coaster",
+    "Move the blue rounded-bottom cup onto the light gray streaked wooden coaster with the arm",
+    "Using the arm, slide the cup for holding liquids onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the grainy texture coaster and set it down.",
+    "Place the cup with smooth plastic surface on top of the wooden coaster",
+    "Move the light blue plastic cup to the grainy texture coaster",
+    "Lift the rounded base blue cup and stick it onto the round coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the light gray round grainy coaster.",
+    "Position the cup with smooth plastic surface squarely on top of the light gray streaked wooden coaster.",
+    "Drop the rounded base blue cup on top of the flat round wooden coaster.",
+    "Grab the medium-sized plastic blue cup and place it over the small coaster with grain texture.",
+    "Position the rounded base blue cup on the round coaster with light streaks with the arm.",
+    "Use the arm to position the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use the arm to slide the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the flat surface gray wooden coaster",
+    "Pick the cup with light blue color up and drop it on the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface up and drop it on the smooth round palm-sized coaster.",
+    "Set the rounded base blue cup on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Use an arm to drop the light blue plastic cup on the wooden coaster.",
+    "Use the arm to set the blue rounded-bottom cup on the light gray round grainy coaster",
+    "Set the blue rounded-bottom cup down on the round coaster",
+    "Set the smooth blue drinking cup securely on the round coaster with light streaks using the arm.",
+    "Slide the blue rounded-bottom cup onto the round coaster",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Relocate the light blue plastic cup precisely onto the round coaster with arm"
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode12.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm",
+    "Move the cup for holding liquids to the round coaster",
+    "Use an arm to drop the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Drop the smooth blue cup for liquids firmly on the smooth round palm-sized coaster using arm",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Set the rounded base blue cup down on the light gray round grainy coaster",
+    "Lift the light blue plastic cup and place it over the wooden coaster",
+    "Slide the plastic cup for drinks onto the coaster with circular shape",
+    "Set the smooth blue drinking cup securely on the round coaster using the arm.",
+    "Slide the smooth blue cup for liquids gently onto the wooden coaster via the arm.",
+    "Use an arm to drop the smooth blue drinking cup on the wooden coaster.",
+    "Grab the cup with light blue color and place it over the smooth round palm-sized coaster.",
+    "Using the arm, align the smooth blue cup for liquids over the small coaster with grain texture",
+    "Lift the rounded base blue cup and stick it onto the small coaster with grain texture.",
+    "Pick the smooth blue cup for liquids up and drop it on the grainy texture coaster.",
+    "Make sure the rounded base blue cup ends up on the flat surface gray wooden coaster.",
+    "Use the arm to set the smooth blue drinking cup on the wooden coaster",
+    "Use the arm to slide the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color and place it on the light gray round grainy coaster.",
+    "Stick the plastic cup for drinks onto the flat round wooden coaster using the arm.",
+    "Use the arm to put the rounded base blue cup onto the round coaster.",
+    "Move the smooth blue cup for liquids using the arm onto the round coaster.",
+    "Use the arm to position the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape using the arm.",
+    "Stick the medium-sized plastic blue cup onto the coaster made of smooth wood carefully.",
+    "Align the cup with light blue color and set it down on the grainy texture coaster",
+    "Lift the cup with light blue color and place it onto the light gray streaked wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the grainy texture coaster.",
+    "Use arm to place the plastic cup for drinks on the small coaster with grain texture",
+    "Position the rounded base blue cup above and drop it on the light gray streaked wooden coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the smooth round palm-sized coaster with arm",
+    "Grab the smooth blue cup for liquids and set it onto the coaster made of smooth wood.",
+    "Stick the cup for holding liquids onto the flat surface gray wooden coaster using the arm",
+    "Position the plastic cup for drinks carefully on the coaster made of smooth wood",
+    "Set the cup with light blue color on the smooth round palm-sized coaster using the arm.",
+    "Position the smooth blue drinking cup on the flat round wooden coaster with the arm.",
+    "Carefully place the cup for holding liquids onto the coaster made of smooth wood without arm",
+    "Grab the light blue plastic cup and lower it onto the grainy texture coaster",
+    "Set the cylindrical light blue cup onto the round coaster with light streaks using the arm.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood and set it down.",
+    "Direct the cylindrical light blue cup to the light gray round grainy coaster and let it rest.",
+    "Lift the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Using the arm, drop the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Drop the cup with smooth plastic surface on top of the grainy texture coaster.",
+    "Slide the medium-sized plastic blue cup onto the wooden coaster with the arm.",
+    "Use an arm to place the cup for holding liquids on the coaster with circular shape",
+    "Set the cylindrical light blue cup carefully onto the wooden coaster",
+    "Grab the smooth blue drinking cup, then place it onto the wooden coaster.",
+    "Position the plastic cup for drinks squarely on top of the light gray streaked wooden coaster.",
+    "Place the cup with light blue color on top of the small coaster with grain texture",
+    "Move the light blue plastic cup onto the flat surface gray wooden coaster with the arm",
+    "Move the cup for holding liquids to the round coaster",
+    "Use an arm to drop the cup for holding liquids on the light gray round grainy coaster",
+    "Drop the medium blue cylindrical cup firmly on the coaster with circular shape using arm",
+    "Use the arm to position the blue rounded-bottom cup on the grainy texture coaster.",
+    "Set the cup with smooth plastic surface down on the coaster with circular shape",
+    "Lift the rounded base blue cup and place it over the wooden coaster",
+    "Slide the plastic cup for drinks onto the small coaster with grain texture",
+    "Set the rounded base blue cup securely on the flat round wooden coaster using the arm.",
+    "Slide the plastic cup for drinks gently onto the coaster with circular shape via the arm.",
+    "Use an arm to drop the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Grab the cup with smooth plastic surface and place it over the smooth round palm-sized coaster.",
+    "Using the arm, align the cylindrical light blue cup over the round coaster",
+    "Lift the rounded base blue cup and stick it onto the round coaster with light streaks.",
+    "Pick the medium blue cylindrical cup up and drop it on the smooth round palm-sized coaster.",
+    "Make sure the light blue plastic cup ends up on the wooden coaster.",
+    "Use the arm to set the light blue plastic cup on the grainy texture coaster",
+    "Use the arm to slide the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it on the light gray streaked wooden coaster.",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to put the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup using the arm onto the round coaster.",
+    "Use the arm to position the cup for holding liquids onto the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks using the arm.",
+    "Stick the smooth blue cup for liquids onto the flat round wooden coaster carefully.",
+    "Align the blue rounded-bottom cup and set it down on the flat surface gray wooden coaster",
+    "Lift the cup with smooth plastic surface and place it onto the coaster with circular shape.",
+    "Using the arm, slide the light blue plastic cup onto the grainy texture coaster.",
+    "Use arm to place the smooth blue drinking cup on the coaster made of smooth wood",
+    "Position the cylindrical light blue cup above and drop it on the coaster with circular shape",
+    "Relocate the cup with smooth plastic surface precisely onto the flat round wooden coaster with arm",
+    "Grab the plastic cup for drinks and set it onto the flat surface gray wooden coaster.",
+    "Stick the smooth blue drinking cup onto the round coaster using the arm",
+    "Position the smooth blue cup for liquids carefully on the smooth round palm-sized coaster",
+    "Set the light blue plastic cup on the round coaster with light streaks using the arm.",
+    "Position the smooth blue cup for liquids on the light gray streaked wooden coaster with the arm.",
+    "Carefully place the rounded base blue cup onto the wooden coaster without arm",
+    "Grab the plastic cup for drinks and lower it onto the grainy texture coaster",
+    "Set the smooth blue cup for liquids onto the light gray round grainy coaster using the arm.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down.",
+    "Direct the smooth blue drinking cup to the round coaster and let it rest.",
+    "Lift the cylindrical light blue cup up and drop it on the coaster with circular shape.",
+    "Using the arm, drop the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Drop the light blue plastic cup on top of the round coaster with light streaks.",
+    "Slide the cup with smooth plastic surface onto the light gray round grainy coaster with the arm.",
+    "Use an arm to place the rounded base blue cup on the flat surface gray wooden coaster",
+    "Set the rounded base blue cup carefully onto the flat round wooden coaster",
+    "Grab the smooth blue drinking cup, then place it onto the small coaster with grain texture.",
+    "Position the medium blue cylindrical cup squarely on top of the light gray streaked wooden coaster.",
+    "Place the medium blue cylindrical cup on top of the coaster made of smooth wood"
+  ],
+  "unseen": [
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster"
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode13.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to drop the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Using the arm, align the plastic cup for drinks over the small coaster with grain texture",
+    "Use an arm to place the cup for holding liquids on the light gray round grainy coaster",
+    "Use an arm to drop the cup with light blue color on the smooth round palm-sized coaster",
+    "Relocate the smooth blue drinking cup precisely onto the wooden coaster with arm",
+    "Slide the cup with smooth plastic surface onto the smooth round palm-sized coaster",
+    "Move the rounded base blue cup onto the wooden coaster with the arm",
+    "Slide the smooth blue drinking cup gently onto the round coaster with light streaks via the arm.",
+    "Set the blue rounded-bottom cup onto the light gray round grainy coaster using the arm.",
+    "Grab the rounded base blue cup and set it onto the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup using the arm onto the light gray round grainy coaster.",
+    "Use the arm to slide the cylindrical light blue cup onto the round coaster.",
+    "Lift the plastic cup for drinks up and drop it on the round coaster.",
+    "Set the cup with smooth plastic surface securely on the light gray round grainy coaster using the arm.",
+    "Using the arm, drop the rounded base blue cup onto the grainy texture coaster.",
+    "Align the rounded base blue cup and set it down on the small coaster with grain texture",
+    "Position the plastic cup for drinks above and drop it on the coaster made of smooth wood",
+    "Use the arm to set the blue rounded-bottom cup on the flat round wooden coaster",
+    "Direct the cup with smooth plastic surface to the flat round wooden coaster and let it rest.",
+    "Pick the medium-sized plastic blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Set the medium-sized plastic blue cup on the round coaster using the arm.",
+    "Drop the medium blue cylindrical cup on top of the light gray streaked wooden coaster.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster and set it down.",
+    "Use arm to place the light blue plastic cup on the flat surface gray wooden coaster",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the round coaster with light streaks",
+    "Grab the smooth blue drinking cup and place it over the wooden coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Set the light blue plastic cup down on the grainy texture coaster",
+    "Drop the plastic cup for drinks firmly on the round coaster with light streaks using arm",
+    "Slide the cup for holding liquids onto the flat surface gray wooden coaster with the arm.",
+    "Carefully place the cup with smooth plastic surface onto the round coaster without arm",
+    "Stick the cup for holding liquids onto the light gray round grainy coaster using the arm.",
+    "Place the cylindrical light blue cup on top of the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks, then place it onto the light gray round grainy coaster.",
+    "Position the plastic cup for drinks carefully on the round coaster with light streaks",
+    "Position the smooth blue cup for liquids on the grainy texture coaster with the arm.",
+    "Stick the rounded base blue cup onto the coaster made of smooth wood using the arm",
+    "Use the arm to position the medium-sized plastic blue cup on the wooden coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Set the cup with smooth plastic surface carefully onto the wooden coaster",
+    "Move the medium blue cylindrical cup to the coaster made of smooth wood using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks and stick it onto the coaster made of smooth wood.",
+    "Lift the cup for holding liquids and place it onto the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup and place it over the small coaster with grain texture",
+    "Make sure the plastic cup for drinks ends up on the small coaster with grain texture.",
+    "Grab the medium-sized plastic blue cup and lower it onto the wooden coaster",
+    "Position the rounded base blue cup squarely on top of the coaster with circular shape.",
+    "Stick the cylindrical light blue cup onto the round coaster carefully.",
+    "Use an arm to drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Using the arm, align the cup with smooth plastic surface over the round coaster with light streaks",
+    "Use an arm to place the plastic cup for drinks on the flat round wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the light gray round grainy coaster",
+    "Relocate the smooth blue cup for liquids precisely onto the light gray streaked wooden coaster with arm",
+    "Slide the blue rounded-bottom cup onto the grainy texture coaster",
+    "Move the smooth blue drinking cup onto the round coaster with light streaks with the arm",
+    "Slide the rounded base blue cup gently onto the coaster made of smooth wood via the arm.",
+    "Set the medium-sized plastic blue cup onto the light gray streaked wooden coaster using the arm.",
+    "Grab the blue rounded-bottom cup and set it onto the coaster made of smooth wood.",
+    "Move the smooth blue drinking cup using the arm onto the grainy texture coaster.",
+    "Use the arm to slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Set the medium-sized plastic blue cup securely on the coaster with circular shape using the arm.",
+    "Using the arm, drop the rounded base blue cup onto the small coaster with grain texture.",
+    "Align the medium blue cylindrical cup and set it down on the coaster with circular shape",
+    "Position the plastic cup for drinks above and drop it on the round coaster",
+    "Use the arm to set the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Direct the cup with smooth plastic surface to the round coaster with light streaks and let it rest.",
+    "Pick the plastic cup for drinks up and drop it on the grainy texture coaster.",
+    "Set the light blue plastic cup on the coaster with circular shape using the arm.",
+    "Drop the cup with light blue color on top of the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks to the wooden coaster and set it down.",
+    "Use arm to place the cup with light blue color on the coaster with circular shape",
+    "Use the arm to position the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the grainy texture coaster",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster with light streaks.",
+    "Using the arm, slide the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Set the medium blue cylindrical cup down on the round coaster",
+    "Drop the plastic cup for drinks firmly on the coaster with circular shape using arm",
+    "Slide the smooth blue cup for liquids onto the flat round wooden coaster with the arm.",
+    "Carefully place the cup with light blue color onto the wooden coaster without arm",
+    "Stick the plastic cup for drinks onto the small coaster with grain texture using the arm.",
+    "Place the blue rounded-bottom cup on top of the coaster with circular shape",
+    "Grab the cylindrical light blue cup, then place it onto the small coaster with grain texture.",
+    "Position the plastic cup for drinks carefully on the flat surface gray wooden coaster",
+    "Position the rounded base blue cup on the grainy texture coaster with the arm.",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Set the smooth blue drinking cup carefully onto the light gray round grainy coaster",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster using the arm.",
+    "Grab the light blue plastic cup and place it on the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup and stick it onto the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the coaster with circular shape.",
+    "Lift the rounded base blue cup and place it over the small coaster with grain texture",
+    "Make sure the medium-sized plastic blue cup ends up on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface and lower it onto the flat surface gray wooden coaster",
+    "Position the medium blue cylindrical cup squarely on top of the wooden coaster.",
+    "Stick the light blue plastic cup onto the light gray round grainy coaster carefully."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode14.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the blue rounded-bottom cup using the arm onto the grainy texture coaster.",
+    "Set the cylindrical light blue cup onto the grainy texture coaster using the arm.",
+    "Lift the cup with light blue color and place it onto the flat surface gray wooden coaster.",
+    "Slide the cup for holding liquids onto the flat round wooden coaster",
+    "Use an arm to place the cup for holding liquids on the smooth round palm-sized coaster",
+    "Use the arm to position the plastic cup for drinks on the coaster made of smooth wood.",
+    "Move the cup with light blue color to the coaster made of smooth wood",
+    "Position the smooth blue drinking cup above and drop it on the round coaster with light streaks",
+    "Lift the plastic cup for drinks up and drop it on the smooth round palm-sized coaster.",
+    "Carefully place the plastic cup for drinks onto the wooden coaster without arm",
+    "Move the rounded base blue cup to the light gray round grainy coaster and set it down.",
+    "Grab the light blue plastic cup, then place it onto the round coaster with light streaks.",
+    "Position the cup with smooth plastic surface carefully on the smooth round palm-sized coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Make sure the cup with smooth plastic surface ends up on the wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the round coaster with light streaks using the arm.",
+    "Set the cup with light blue color securely on the flat surface gray wooden coaster using the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat surface gray wooden coaster",
+    "Align the cup for holding liquids and set it down on the round coaster with light streaks",
+    "Use the arm to slide the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Set the cup with smooth plastic surface carefully onto the coaster with circular shape",
+    "Move the rounded base blue cup onto the light gray round grainy coaster with the arm",
+    "Using the arm, drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Lift the blue rounded-bottom cup and stick it onto the grainy texture coaster.",
+    "Direct the plastic cup for drinks to the round coaster and let it rest.",
+    "Grab the cup with smooth plastic surface and place it on the smooth round palm-sized coaster.",
+    "Lift the smooth blue drinking cup and place it over the round coaster with light streaks",
+    "Use the arm to set the cylindrical light blue cup on the smooth round palm-sized coaster",
+    "Drop the blue rounded-bottom cup on top of the round coaster with light streaks.",
+    "Use the arm to position the cup for holding liquids onto the round coaster.",
+    "Using the arm, align the smooth blue drinking cup over the light gray round grainy coaster",
+    "Position the cup for holding liquids squarely on top of the grainy texture coaster.",
+    "Use the arm to put the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Drop the smooth blue drinking cup firmly on the flat round wooden coaster using arm",
+    "Stick the rounded base blue cup onto the flat round wooden coaster carefully.",
+    "Position the rounded base blue cup on the light gray streaked wooden coaster with the arm.",
+    "Place the smooth blue drinking cup on top of the smooth round palm-sized coaster",
+    "Slide the rounded base blue cup gently onto the grainy texture coaster via the arm.",
+    "Grab the rounded base blue cup and set it onto the grainy texture coaster.",
+    "Move the light blue plastic cup to the light gray round grainy coaster using the arm.",
+    "Set the plastic cup for drinks down on the wooden coaster",
+    "Use an arm to drop the light blue plastic cup on the small coaster with grain texture",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm",
+    "Set the smooth blue drinking cup on the flat round wooden coaster using the arm.",
+    "Relocate the smooth blue drinking cup precisely onto the light gray streaked wooden coaster with arm",
+    "Grab the light blue plastic cup and place it over the small coaster with grain texture.",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster with the arm.",
+    "Use arm to place the medium blue cylindrical cup on the coaster made of smooth wood",
+    "Pick the plastic cup for drinks up and drop it on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup using the arm onto the flat round wooden coaster.",
+    "Set the cylindrical light blue cup onto the coaster with circular shape using the arm.",
+    "Lift the medium-sized plastic blue cup and place it onto the round coaster with light streaks.",
+    "Slide the light blue plastic cup onto the small coaster with grain texture",
+    "Use an arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Use the arm to position the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup to the round coaster",
+    "Position the cylindrical light blue cup above and drop it on the wooden coaster",
+    "Lift the light blue plastic cup up and drop it on the round coaster with light streaks.",
+    "Carefully place the light blue plastic cup onto the coaster made of smooth wood without arm",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster and set it down.",
+    "Grab the smooth blue cup for liquids, then place it onto the smooth round palm-sized coaster.",
+    "Position the cylindrical light blue cup carefully on the small coaster with grain texture",
+    "Using the arm, slide the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Make sure the smooth blue cup for liquids ends up on the wooden coaster.",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Stick the plastic cup for drinks onto the wooden coaster using the arm.",
+    "Set the cup with light blue color securely on the round coaster using the arm.",
+    "Grab the smooth blue cup for liquids and lower it onto the grainy texture coaster",
+    "Align the blue rounded-bottom cup and set it down on the smooth round palm-sized coaster",
+    "Use the arm to slide the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Set the light blue plastic cup carefully onto the smooth round palm-sized coaster",
+    "Move the cylindrical light blue cup onto the round coaster with light streaks with the arm",
+    "Using the arm, drop the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks and stick it onto the small coaster with grain texture.",
+    "Direct the medium-sized plastic blue cup to the wooden coaster and let it rest.",
+    "Grab the rounded base blue cup and place it on the round coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the coaster with circular shape",
+    "Use the arm to set the cup with smooth plastic surface on the wooden coaster",
+    "Drop the rounded base blue cup on top of the wooden coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Using the arm, align the plastic cup for drinks over the smooth round palm-sized coaster",
+    "Position the medium blue cylindrical cup squarely on top of the wooden coaster.",
+    "Use the arm to put the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster carefully.",
+    "Position the blue rounded-bottom cup on the small coaster with grain texture with the arm.",
+    "Place the cup with light blue color on top of the wooden coaster",
+    "Slide the cylindrical light blue cup gently onto the small coaster with grain texture via the arm.",
+    "Grab the plastic cup for drinks and set it onto the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids to the grainy texture coaster using the arm.",
+    "Set the blue rounded-bottom cup down on the light gray round grainy coaster",
+    "Use an arm to drop the medium-sized plastic blue cup on the coaster made of smooth wood",
+    "Stick the cylindrical light blue cup onto the flat round wooden coaster using the arm",
+    "Set the blue rounded-bottom cup on the flat round wooden coaster using the arm.",
+    "Relocate the smooth blue cup for liquids precisely onto the flat surface gray wooden coaster with arm",
+    "Grab the plastic cup for drinks and place it over the grainy texture coaster.",
+    "Slide the light blue plastic cup onto the smooth round palm-sized coaster with the arm.",
+    "Use arm to place the cup with light blue color on the wooden coaster",
+    "Pick the plastic cup for drinks up and drop it on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster"
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode15.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the medium-sized plastic blue cup precisely onto the flat surface gray wooden coaster with arm",
+    "Use the arm to put the cup with smooth plastic surface onto the wooden coaster.",
+    "Using the arm, drop the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the round coaster",
+    "Use an arm to drop the plastic cup for drinks on the wooden coaster",
+    "Slide the rounded base blue cup gently onto the flat round wooden coaster via the arm.",
+    "Make sure the medium blue cylindrical cup ends up on the small coaster with grain texture.",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm",
+    "Pick the smooth blue cup for liquids up and drop it on the grainy texture coaster.",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Carefully place the medium blue cylindrical cup onto the grainy texture coaster without arm",
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster with the arm",
+    "Align the blue rounded-bottom cup and set it down on the flat round wooden coaster",
+    "Use the arm to position the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup and place it over the round coaster.",
+    "Stick the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Lift the smooth blue drinking cup and stick it onto the smooth round palm-sized coaster.",
+    "Use the arm to set the plastic cup for drinks on the light gray streaked wooden coaster",
+    "Grab the plastic cup for drinks, then place it onto the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the light gray round grainy coaster",
+    "Slide the smooth blue drinking cup onto the coaster made of smooth wood",
+    "Set the medium blue cylindrical cup securely on the light gray streaked wooden coaster using the arm.",
+    "Stick the medium blue cylindrical cup onto the coaster made of smooth wood carefully.",
+    "Use the arm to slide the cup for holding liquids onto the coaster with circular shape.",
+    "Position the cup for holding liquids squarely on top of the round coaster.",
+    "Lift the cup with light blue color up and drop it on the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup and set it onto the flat surface gray wooden coaster.",
+    "Direct the cylindrical light blue cup to the small coaster with grain texture and let it rest.",
+    "Lift the cup for holding liquids and place it over the round coaster",
+    "Set the smooth blue cup for liquids carefully onto the smooth round palm-sized coaster",
+    "Move the cup for holding liquids using the arm onto the round coaster with light streaks.",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the rounded base blue cup on the light gray round grainy coaster.",
+    "Position the smooth blue cup for liquids above and drop it on the coaster made of smooth wood",
+    "Lift the cup with smooth plastic surface and place it onto the coaster with circular shape.",
+    "Place the blue rounded-bottom cup on top of the light gray round grainy coaster",
+    "Use an arm to drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Drop the plastic cup for drinks firmly on the light gray streaked wooden coaster using arm",
+    "Use arm to place the smooth blue drinking cup on the wooden coaster",
+    "Set the blue rounded-bottom cup onto the smooth round palm-sized coaster using the arm.",
+    "Set the cup for holding liquids down on the round coaster",
+    "Drop the medium blue cylindrical cup on top of the light gray streaked wooden coaster.",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Grab the light blue plastic cup and place it on the flat surface gray wooden coaster.",
+    "Slide the light blue plastic cup onto the flat surface gray wooden coaster with the arm.",
+    "Position the rounded base blue cup carefully on the coaster made of smooth wood",
+    "Using the arm, align the smooth blue drinking cup over the flat surface gray wooden coaster",
+    "Move the rounded base blue cup to the wooden coaster and set it down.",
+    "Set the rounded base blue cup on the light gray round grainy coaster using the arm.",
+    "Position the blue rounded-bottom cup on the flat round wooden coaster with the arm.",
+    "Relocate the rounded base blue cup precisely onto the small coaster with grain texture with arm",
+    "Use the arm to put the plastic cup for drinks onto the flat round wooden coaster.",
+    "Using the arm, drop the smooth blue cup for liquids onto the round coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the flat round wooden coaster",
+    "Use an arm to drop the plastic cup for drinks on the small coaster with grain texture",
+    "Slide the cup with light blue color gently onto the small coaster with grain texture via the arm.",
+    "Make sure the cup for holding liquids ends up on the wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Pick the cup with light blue color up and drop it on the flat round wooden coaster.",
+    "Use an arm to place the medium-sized plastic blue cup on the round coaster",
+    "Carefully place the smooth blue cup for liquids onto the round coaster with light streaks without arm",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks with the arm",
+    "Align the plastic cup for drinks and set it down on the flat surface gray wooden coaster",
+    "Use the arm to position the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Grab the plastic cup for drinks and place it over the round coaster.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm.",
+    "Lift the cup for holding liquids and stick it onto the wooden coaster.",
+    "Use the arm to set the plastic cup for drinks on the grainy texture coaster",
+    "Grab the cylindrical light blue cup, then place it onto the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup to the wooden coaster",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster",
+    "Set the cup for holding liquids securely on the light gray streaked wooden coaster using the arm.",
+    "Stick the smooth blue drinking cup onto the grainy texture coaster carefully.",
+    "Use the arm to slide the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Position the cup with smooth plastic surface squarely on top of the light gray round grainy coaster.",
+    "Lift the medium-sized plastic blue cup up and drop it on the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup and set it onto the flat round wooden coaster.",
+    "Direct the blue rounded-bottom cup to the coaster with circular shape and let it rest.",
+    "Lift the cup with smooth plastic surface and place it over the wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the flat round wooden coaster",
+    "Move the plastic cup for drinks using the arm onto the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Position the blue rounded-bottom cup above and drop it on the smooth round palm-sized coaster",
+    "Lift the medium blue cylindrical cup and place it onto the round coaster.",
+    "Place the blue rounded-bottom cup on top of the light gray streaked wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the round coaster with light streaks.",
+    "Drop the light blue plastic cup firmly on the coaster with circular shape using arm",
+    "Use arm to place the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Set the rounded base blue cup onto the small coaster with grain texture using the arm.",
+    "Set the cup with smooth plastic surface down on the flat surface gray wooden coaster",
+    "Drop the cup with light blue color on top of the round coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Grab the rounded base blue cup and place it on the flat surface gray wooden coaster.",
+    "Slide the medium-sized plastic blue cup onto the round coaster with the arm.",
+    "Position the plastic cup for drinks carefully on the wooden coaster",
+    "Using the arm, align the cup for holding liquids over the grainy texture coaster",
+    "Move the light blue plastic cup to the round coaster and set it down.",
+    "Set the rounded base blue cup on the flat round wooden coaster using the arm.",
+    "Position the cylindrical light blue cup on the small coaster with grain texture with the arm."
+  ],
+  "unseen": [
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode16.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the cup with smooth plastic surface carefully on the coaster with circular shape",
+    "Lift the plastic cup for drinks and stick it onto the round coaster with light streaks.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster using the arm.",
+    "Align the cylindrical light blue cup and set it down on the flat surface gray wooden coaster",
+    "Grab the smooth blue drinking cup, then place it onto the wooden coaster.",
+    "Position the smooth blue drinking cup on the coaster made of smooth wood with the arm.",
+    "Lift the medium-sized plastic blue cup and place it onto the grainy texture coaster.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat surface gray wooden coaster",
+    "Move the cup with light blue color onto the small coaster with grain texture with the arm",
+    "Drop the cup with light blue color on top of the grainy texture coaster.",
+    "Grab the rounded base blue cup and set it onto the small coaster with grain texture.",
+    "Position the cup for holding liquids above and drop it on the grainy texture coaster",
+    "Use the arm to slide the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Relocate the cylindrical light blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Grab the cup for holding liquids and place it over the grainy texture coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to the flat round wooden coaster and set it down.",
+    "Slide the light blue plastic cup onto the round coaster",
+    "Set the medium-sized plastic blue cup onto the smooth round palm-sized coaster using the arm.",
+    "Use the arm to set the cup for holding liquids on the flat surface gray wooden coaster",
+    "Grab the plastic cup for drinks and place it on the coaster with circular shape.",
+    "Use an arm to drop the blue rounded-bottom cup on the flat round wooden coaster",
+    "Move the blue rounded-bottom cup using the arm onto the grainy texture coaster.",
+    "Set the smooth blue cup for liquids on the coaster with circular shape using the arm.",
+    "Set the plastic cup for drinks carefully onto the small coaster with grain texture",
+    "Use the arm to position the cylindrical light blue cup onto the coaster with circular shape.",
+    "Carefully place the medium-sized plastic blue cup onto the small coaster with grain texture without arm",
+    "Use the arm to position the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm",
+    "Place the smooth blue drinking cup on top of the small coaster with grain texture",
+    "Direct the medium blue cylindrical cup to the coaster made of smooth wood and let it rest.",
+    "Use an arm to place the rounded base blue cup on the round coaster",
+    "Use an arm to drop the light blue plastic cup on the round coaster with light streaks.",
+    "Using the arm, align the cup with light blue color over the flat surface gray wooden coaster",
+    "Move the cylindrical light blue cup to the flat round wooden coaster",
+    "Lift the blue rounded-bottom cup and place it over the grainy texture coaster",
+    "Using the arm, slide the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Slide the light blue plastic cup onto the grainy texture coaster with the arm.",
+    "Use the arm to put the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Use arm to place the light blue plastic cup on the wooden coaster",
+    "Set the blue rounded-bottom cup securely on the coaster with circular shape using the arm.",
+    "Make sure the light blue plastic cup ends up on the round coaster with light streaks.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Position the cup with light blue color squarely on top of the round coaster.",
+    "Lift the rounded base blue cup up and drop it on the smooth round palm-sized coaster.",
+    "Set the blue rounded-bottom cup down on the small coaster with grain texture",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape using the arm.",
+    "Slide the blue rounded-bottom cup gently onto the coaster with circular shape via the arm.",
+    "Drop the medium-sized plastic blue cup firmly on the coaster made of smooth wood using arm",
+    "Using the arm, drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Position the rounded base blue cup carefully on the round coaster with light streaks",
+    "Lift the plastic cup for drinks and stick it onto the round coaster with light streaks.",
+    "Move the rounded base blue cup to the flat round wooden coaster using the arm.",
+    "Align the rounded base blue cup and set it down on the flat round wooden coaster",
+    "Grab the cup for holding liquids, then place it onto the round coaster.",
+    "Position the rounded base blue cup on the small coaster with grain texture with the arm.",
+    "Lift the medium blue cylindrical cup and place it onto the wooden coaster.",
+    "Grab the cup for holding liquids and lower it onto the coaster made of smooth wood",
+    "Move the smooth blue drinking cup onto the flat surface gray wooden coaster with the arm",
+    "Drop the blue rounded-bottom cup on top of the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup and set it onto the flat surface gray wooden coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the light gray round grainy coaster",
+    "Use the arm to slide the cup for holding liquids onto the coaster with circular shape.",
+    "Relocate the medium-sized plastic blue cup precisely onto the wooden coaster with arm",
+    "Grab the smooth blue drinking cup and place it over the round coaster.",
+    "Pick the cup for holding liquids up and drop it on the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture and set it down.",
+    "Slide the medium-sized plastic blue cup onto the grainy texture coaster",
+    "Set the smooth blue drinking cup onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Grab the rounded base blue cup and place it on the light gray streaked wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the wooden coaster",
+    "Move the plastic cup for drinks using the arm onto the wooden coaster.",
+    "Set the rounded base blue cup on the coaster made of smooth wood using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the flat surface gray wooden coaster",
+    "Use the arm to position the cup with smooth plastic surface onto the round coaster.",
+    "Carefully place the blue rounded-bottom cup onto the round coaster with light streaks without arm",
+    "Use the arm to position the smooth blue drinking cup on the coaster with circular shape.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Place the cup with smooth plastic surface on top of the round coaster",
+    "Direct the medium blue cylindrical cup to the grainy texture coaster and let it rest.",
+    "Use an arm to place the cup for holding liquids on the flat round wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the wooden coaster.",
+    "Using the arm, align the medium blue cylindrical cup over the wooden coaster",
+    "Move the cup for holding liquids to the smooth round palm-sized coaster",
+    "Lift the blue rounded-bottom cup and place it over the smooth round palm-sized coaster",
+    "Using the arm, slide the rounded base blue cup onto the flat round wooden coaster.",
+    "Slide the cylindrical light blue cup onto the round coaster with light streaks with the arm.",
+    "Use the arm to put the plastic cup for drinks onto the coaster with circular shape.",
+    "Use arm to place the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Set the rounded base blue cup securely on the coaster made of smooth wood using the arm.",
+    "Make sure the medium-sized plastic blue cup ends up on the flat surface gray wooden coaster.",
+    "Stick the cup with smooth plastic surface onto the small coaster with grain texture carefully.",
+    "Position the medium-sized plastic blue cup squarely on top of the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color up and drop it on the round coaster with light streaks.",
+    "Set the medium blue cylindrical cup down on the round coaster with light streaks",
+    "Stick the smooth blue cup for liquids onto the small coaster with grain texture using the arm.",
+    "Slide the cup with light blue color gently onto the light gray round grainy coaster via the arm.",
+    "Drop the cup for holding liquids firmly on the flat round wooden coaster using arm",
+    "Using the arm, drop the plastic cup for drinks onto the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup down on the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode17.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to set the cup with light blue color on the coaster with circular shape",
+    "Grab the smooth blue cup for liquids and set it onto the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Set the smooth blue cup for liquids carefully onto the grainy texture coaster",
+    "Relocate the medium-sized plastic blue cup precisely onto the smooth round palm-sized coaster with arm",
+    "Using the arm, align the medium blue cylindrical cup over the coaster made of smooth wood",
+    "Lift the blue rounded-bottom cup and place it onto the grainy texture coaster.",
+    "Slide the cup for holding liquids gently onto the round coaster with light streaks via the arm.",
+    "Use an arm to drop the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Set the smooth blue cup for liquids on the round coaster with light streaks using the arm.",
+    "Drop the cup for holding liquids on top of the light gray streaked wooden coaster.",
+    "Use the arm to put the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Set the light blue plastic cup onto the grainy texture coaster using the arm.",
+    "Stick the smooth blue drinking cup onto the light gray round grainy coaster using the arm",
+    "Move the cylindrical light blue cup using the arm onto the flat round wooden coaster.",
+    "Use arm to place the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Position the cylindrical light blue cup squarely on top of the smooth round palm-sized coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the coaster made of smooth wood.",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster using the arm.",
+    "Direct the blue rounded-bottom cup to the coaster with circular shape and let it rest.",
+    "Set the cup with light blue color down on the coaster made of smooth wood",
+    "Grab the smooth blue drinking cup and place it on the coaster with circular shape.",
+    "Carefully place the medium blue cylindrical cup onto the round coaster without arm",
+    "Position the cup with light blue color on the flat round wooden coaster with the arm.",
+    "Make sure the light blue plastic cup ends up on the smooth round palm-sized coaster.",
+    "Pick the light blue plastic cup up and drop it on the coaster made of smooth wood.",
+    "Place the medium blue cylindrical cup on top of the coaster with circular shape",
+    "Position the cylindrical light blue cup carefully on the flat round wooden coaster",
+    "Set the smooth blue drinking cup securely on the small coaster with grain texture using the arm.",
+    "Stick the blue rounded-bottom cup onto the flat round wooden coaster carefully.",
+    "Move the plastic cup for drinks to the grainy texture coaster",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture with the arm.",
+    "Use the arm to slide the light blue plastic cup onto the wooden coaster.",
+    "Grab the cup with light blue color and lower it onto the round coaster with light streaks",
+    "Position the cylindrical light blue cup above and drop it on the flat surface gray wooden coaster",
+    "Using the arm, slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Grab the rounded base blue cup and place it over the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the round coaster and set it down.",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Slide the rounded base blue cup onto the light gray streaked wooden coaster",
+    "Grab the medium blue cylindrical cup, then place it onto the grainy texture coaster.",
+    "Use the arm to position the rounded base blue cup onto the flat round wooden coaster.",
+    "Drop the blue rounded-bottom cup firmly on the flat surface gray wooden coaster using arm",
+    "Lift the cup with light blue color and stick it onto the grainy texture coaster.",
+    "Stick the blue rounded-bottom cup onto the round coaster using the arm.",
+    "Align the medium-sized plastic blue cup and set it down on the flat surface gray wooden coaster",
+    "Lift the cup for holding liquids and place it over the small coaster with grain texture",
+    "Use an arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Use the arm to set the cup with light blue color on the light gray round grainy coaster",
+    "Grab the medium blue cylindrical cup and set it onto the wooden coaster.",
+    "Move the smooth blue cup for liquids onto the light gray streaked wooden coaster with the arm",
+    "Set the cup for holding liquids carefully onto the round coaster with light streaks",
+    "Relocate the smooth blue drinking cup precisely onto the light gray streaked wooden coaster with arm",
+    "Using the arm, align the smooth blue cup for liquids over the coaster made of smooth wood",
+    "Lift the medium blue cylindrical cup and place it onto the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup gently onto the coaster with circular shape via the arm.",
+    "Use an arm to drop the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Set the cup for holding liquids on the flat round wooden coaster using the arm.",
+    "Drop the plastic cup for drinks on top of the coaster with circular shape.",
+    "Use the arm to put the medium blue cylindrical cup onto the wooden coaster.",
+    "Set the smooth blue drinking cup onto the coaster with circular shape using the arm.",
+    "Stick the medium-sized plastic blue cup onto the wooden coaster using the arm",
+    "Move the plastic cup for drinks using the arm onto the coaster with circular shape.",
+    "Use arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the flat round wooden coaster",
+    "Position the cup with light blue color squarely on top of the round coaster.",
+    "Use the arm to position the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup up and drop it on the small coaster with grain texture.",
+    "Move the rounded base blue cup to the round coaster with light streaks using the arm.",
+    "Direct the smooth blue cup for liquids to the light gray streaked wooden coaster and let it rest.",
+    "Set the medium blue cylindrical cup down on the coaster with circular shape",
+    "Grab the smooth blue drinking cup and place it on the small coaster with grain texture.",
+    "Carefully place the plastic cup for drinks onto the round coaster with light streaks without arm",
+    "Position the blue rounded-bottom cup on the light gray round grainy coaster with the arm.",
+    "Make sure the cup with smooth plastic surface ends up on the small coaster with grain texture.",
+    "Pick the plastic cup for drinks up and drop it on the small coaster with grain texture.",
+    "Place the smooth blue drinking cup on top of the small coaster with grain texture",
+    "Position the smooth blue cup for liquids carefully on the coaster made of smooth wood",
+    "Set the cylindrical light blue cup securely on the light gray round grainy coaster using the arm.",
+    "Stick the cup with smooth plastic surface onto the coaster made of smooth wood carefully.",
+    "Move the cup with light blue color to the flat round wooden coaster",
+    "Slide the medium-sized plastic blue cup onto the small coaster with grain texture with the arm.",
+    "Use the arm to slide the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Grab the smooth blue drinking cup and lower it onto the light gray streaked wooden coaster",
+    "Position the cup with smooth plastic surface above and drop it on the round coaster with light streaks",
+    "Using the arm, slide the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Grab the medium blue cylindrical cup and place it over the round coaster with light streaks.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape and set it down.",
+    "Using the arm, drop the cup for holding liquids onto the round coaster with light streaks.",
+    "Slide the blue rounded-bottom cup onto the small coaster with grain texture",
+    "Grab the medium blue cylindrical cup, then place it onto the coaster with circular shape.",
+    "Use the arm to position the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Drop the rounded base blue cup firmly on the wooden coaster using arm",
+    "Lift the blue rounded-bottom cup and stick it onto the smooth round palm-sized coaster.",
+    "Stick the smooth blue drinking cup onto the smooth round palm-sized coaster using the arm.",
+    "Align the smooth blue drinking cup and set it down on the coaster with circular shape",
+    "Lift the cylindrical light blue cup and place it over the flat surface gray wooden coaster",
+    "Use an arm to place the cylindrical light blue cup on the flat surface gray wooden coaster"
+  ],
+  "unseen": [
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode18.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the cup with smooth plastic surface on top of the flat surface gray wooden coaster",
+    "Set the cup for holding liquids carefully onto the light gray streaked wooden coaster",
+    "Use the arm to set the rounded base blue cup on the light gray streaked wooden coaster",
+    "Lift the rounded base blue cup and place it over the wooden coaster",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Grab the smooth blue drinking cup and set it onto the wooden coaster.",
+    "Make sure the smooth blue drinking cup ends up on the coaster with circular shape.",
+    "Drop the rounded base blue cup firmly on the flat surface gray wooden coaster using arm",
+    "Direct the cup with smooth plastic surface to the light gray streaked wooden coaster and let it rest.",
+    "Lift the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster using the arm.",
+    "Relocate the medium blue cylindrical cup precisely onto the round coaster with light streaks with arm",
+    "Position the cup with smooth plastic surface on the coaster made of smooth wood with the arm.",
+    "Use the arm to position the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Pick the plastic cup for drinks up and drop it on the coaster with circular shape.",
+    "Drop the cup with smooth plastic surface on top of the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup to the wooden coaster and set it down.",
+    "Using the arm, slide the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Use arm to place the cylindrical light blue cup on the light gray streaked wooden coaster",
+    "Move the blue rounded-bottom cup to the wooden coaster using the arm.",
+    "Grab the rounded base blue cup, then place it onto the round coaster with light streaks.",
+    "Slide the plastic cup for drinks gently onto the round coaster via the arm.",
+    "Align the smooth blue drinking cup and set it down on the grainy texture coaster",
+    "Position the smooth blue cup for liquids above and drop it on the light gray round grainy coaster",
+    "Set the medium-sized plastic blue cup onto the coaster made of smooth wood using the arm.",
+    "Use the arm to position the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Position the cup with smooth plastic surface squarely on top of the coaster with circular shape.",
+    "Use the arm to slide the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Carefully place the smooth blue drinking cup onto the wooden coaster without arm",
+    "Use an arm to place the plastic cup for drinks on the smooth round palm-sized coaster",
+    "Using the arm, drop the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Slide the plastic cup for drinks onto the flat round wooden coaster with the arm.",
+    "Use the arm to put the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Use an arm to drop the cup for holding liquids on the round coaster with light streaks.",
+    "Move the rounded base blue cup to the coaster made of smooth wood",
+    "Using the arm, align the smooth blue drinking cup over the coaster with circular shape",
+    "Grab the cup for holding liquids and lower it onto the smooth round palm-sized coaster",
+    "Grab the plastic cup for drinks and place it over the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the wooden coaster.",
+    "Use an arm to drop the light blue plastic cup on the light gray round grainy coaster",
+    "Slide the smooth blue drinking cup onto the light gray round grainy coaster",
+    "Set the cup with light blue color down on the smooth round palm-sized coaster",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood with the arm",
+    "Move the rounded base blue cup using the arm onto the coaster made of smooth wood.",
+    "Set the plastic cup for drinks on the flat surface gray wooden coaster using the arm.",
+    "Position the cup for holding liquids carefully on the coaster made of smooth wood",
+    "Lift the blue rounded-bottom cup and place it onto the wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the coaster with circular shape carefully.",
+    "Set the plastic cup for drinks securely on the light gray round grainy coaster using the arm.",
+    "Grab the medium blue cylindrical cup and place it on the grainy texture coaster.",
+    "Place the cup for holding liquids on top of the flat surface gray wooden coaster",
+    "Set the smooth blue cup for liquids carefully onto the smooth round palm-sized coaster",
+    "Use the arm to set the smooth blue cup for liquids on the coaster made of smooth wood",
+    "Lift the cylindrical light blue cup and place it over the coaster with circular shape",
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm",
+    "Grab the light blue plastic cup and set it onto the light gray round grainy coaster.",
+    "Make sure the cylindrical light blue cup ends up on the smooth round palm-sized coaster.",
+    "Drop the cylindrical light blue cup firmly on the coaster made of smooth wood using arm",
+    "Direct the smooth blue drinking cup to the coaster made of smooth wood and let it rest.",
+    "Lift the medium blue cylindrical cup up and drop it on the grainy texture coaster.",
+    "Stick the blue rounded-bottom cup onto the coaster made of smooth wood using the arm.",
+    "Relocate the blue rounded-bottom cup precisely onto the coaster with circular shape with arm",
+    "Position the smooth blue drinking cup on the round coaster with the arm.",
+    "Use the arm to position the cup with light blue color onto the flat round wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the smooth round palm-sized coaster.",
+    "Drop the medium-sized plastic blue cup on top of the small coaster with grain texture.",
+    "Move the smooth blue drinking cup to the round coaster and set it down.",
+    "Using the arm, slide the cup for holding liquids onto the round coaster with light streaks.",
+    "Use arm to place the medium blue cylindrical cup on the flat surface gray wooden coaster",
+    "Move the cup with light blue color to the light gray round grainy coaster using the arm.",
+    "Grab the smooth blue drinking cup, then place it onto the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color gently onto the smooth round palm-sized coaster via the arm.",
+    "Align the medium-sized plastic blue cup and set it down on the small coaster with grain texture",
+    "Position the medium blue cylindrical cup above and drop it on the small coaster with grain texture",
+    "Set the plastic cup for drinks onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Position the smooth blue drinking cup squarely on top of the flat surface gray wooden coaster.",
+    "Use the arm to slide the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Carefully place the smooth blue drinking cup onto the round coaster with light streaks without arm",
+    "Use an arm to place the smooth blue drinking cup on the round coaster with light streaks",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Slide the light blue plastic cup onto the coaster with circular shape with the arm.",
+    "Use the arm to put the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Use an arm to drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks",
+    "Using the arm, align the cylindrical light blue cup over the coaster with circular shape",
+    "Grab the blue rounded-bottom cup and lower it onto the round coaster",
+    "Grab the medium blue cylindrical cup and place it over the light gray streaked wooden coaster.",
+    "Lift the cup for holding liquids and stick it onto the small coaster with grain texture.",
+    "Use an arm to drop the cup with smooth plastic surface on the grainy texture coaster",
+    "Slide the smooth blue drinking cup onto the coaster with circular shape",
+    "Set the cylindrical light blue cup down on the round coaster with light streaks",
+    "Move the medium-sized plastic blue cup onto the flat surface gray wooden coaster with the arm",
+    "Move the cup with smooth plastic surface using the arm onto the flat surface gray wooden coaster.",
+    "Set the medium-sized plastic blue cup on the flat round wooden coaster using the arm.",
+    "Position the cup with smooth plastic surface carefully on the coaster with circular shape",
+    "Lift the medium blue cylindrical cup and place it onto the smooth round palm-sized coaster.",
+    "Stick the blue rounded-bottom cup onto the round coaster with light streaks carefully.",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Grab the cup with smooth plastic surface and place it on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode19.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm",
+    "Move the plastic cup for drinks using the arm onto the light gray streaked wooden coaster.",
+    "Position the medium-sized plastic blue cup carefully on the coaster made of smooth wood",
+    "Grab the smooth blue drinking cup and lower it onto the coaster with circular shape",
+    "Set the blue rounded-bottom cup down on the flat round wooden coaster",
+    "Lift the cup with light blue color and place it over the light gray round grainy coaster",
+    "Use the arm to put the cylindrical light blue cup onto the round coaster.",
+    "Relocate the smooth blue drinking cup precisely onto the coaster with circular shape with arm",
+    "Slide the cup for holding liquids onto the wooden coaster",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster and set it down.",
+    "Align the cup for holding liquids and set it down on the coaster made of smooth wood",
+    "Pick the medium-sized plastic blue cup up and drop it on the grainy texture coaster.",
+    "Grab the blue rounded-bottom cup and set it onto the round coaster with light streaks.",
+    "Set the cup for holding liquids securely on the smooth round palm-sized coaster using the arm.",
+    "Use the arm to position the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Set the plastic cup for drinks onto the round coaster with light streaks using the arm.",
+    "Using the arm, align the cylindrical light blue cup over the grainy texture coaster",
+    "Using the arm, drop the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Use the arm to set the light blue plastic cup on the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface squarely on top of the grainy texture coaster.",
+    "Drop the cup with smooth plastic surface on top of the wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Grab the rounded base blue cup and place it over the small coaster with grain texture.",
+    "Slide the cup with light blue color gently onto the light gray round grainy coaster via the arm.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape using the arm.",
+    "Position the smooth blue cup for liquids on the grainy texture coaster with the arm.",
+    "Using the arm, slide the cup for holding liquids onto the round coaster.",
+    "Direct the medium blue cylindrical cup to the round coaster and let it rest.",
+    "Use arm to place the smooth blue drinking cup on the small coaster with grain texture",
+    "Slide the cylindrical light blue cup onto the grainy texture coaster with the arm.",
+    "Place the medium blue cylindrical cup on top of the flat round wooden coaster",
+    "Drop the cylindrical light blue cup firmly on the coaster made of smooth wood using arm",
+    "Lift the cylindrical light blue cup up and drop it on the grainy texture coaster.",
+    "Grab the medium blue cylindrical cup and place it on the round coaster.",
+    "Stick the medium-sized plastic blue cup onto the light gray streaked wooden coaster carefully.",
+    "Lift the medium-sized plastic blue cup and stick it onto the light gray streaked wooden coaster.",
+    "Position the medium blue cylindrical cup above and drop it on the flat surface gray wooden coaster",
+    "Make sure the medium blue cylindrical cup ends up on the grainy texture coaster.",
+    "Use an arm to drop the medium blue cylindrical cup on the round coaster",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Grab the medium blue cylindrical cup, then place it onto the small coaster with grain texture.",
+    "Use an arm to place the cup with smooth plastic surface on the light gray round grainy coaster",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood",
+    "Carefully place the cup with light blue color onto the coaster with circular shape without arm",
+    "Use the arm to slide the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Set the cylindrical light blue cup carefully onto the round coaster",
+    "Stick the cup for holding liquids onto the smooth round palm-sized coaster using the arm.",
+    "Lift the cup with smooth plastic surface and place it onto the small coaster with grain texture.",
+    "Set the medium-sized plastic blue cup on the small coaster with grain texture using the arm.",
+    "Stick the cup with light blue color onto the light gray round grainy coaster using the arm",
+    "Move the cylindrical light blue cup using the arm onto the wooden coaster.",
+    "Position the blue rounded-bottom cup carefully on the flat surface gray wooden coaster",
+    "Grab the smooth blue cup for liquids and lower it onto the coaster made of smooth wood",
+    "Set the light blue plastic cup down on the smooth round palm-sized coaster",
+    "Lift the light blue plastic cup and place it over the grainy texture coaster",
+    "Use the arm to put the light blue plastic cup onto the round coaster with light streaks.",
+    "Relocate the blue rounded-bottom cup precisely onto the wooden coaster with arm",
+    "Slide the cylindrical light blue cup onto the smooth round palm-sized coaster",
+    "Move the smooth blue cup for liquids to the coaster with circular shape and set it down.",
+    "Align the light blue plastic cup and set it down on the round coaster with light streaks",
+    "Pick the smooth blue drinking cup up and drop it on the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup and set it onto the light gray streaked wooden coaster.",
+    "Set the cylindrical light blue cup securely on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the rounded base blue cup on the round coaster with light streaks.",
+    "Use an arm to drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Set the plastic cup for drinks onto the round coaster with light streaks using the arm.",
+    "Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster",
+    "Using the arm, drop the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Use the arm to set the rounded base blue cup on the smooth round palm-sized coaster",
+    "Position the plastic cup for drinks squarely on top of the flat surface gray wooden coaster.",
+    "Drop the blue rounded-bottom cup on top of the round coaster with light streaks.",
+    "Use the arm to position the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Grab the light blue plastic cup and place it over the coaster with circular shape.",
+    "Slide the cup with light blue color gently onto the smooth round palm-sized coaster via the arm.",
+    "Move the cup for holding liquids to the round coaster using the arm.",
+    "Position the medium blue cylindrical cup on the coaster with circular shape with the arm.",
+    "Using the arm, slide the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Direct the plastic cup for drinks to the round coaster and let it rest.",
+    "Use arm to place the medium blue cylindrical cup on the light gray streaked wooden coaster",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster with the arm.",
+    "Place the medium blue cylindrical cup on top of the wooden coaster",
+    "Drop the plastic cup for drinks firmly on the flat round wooden coaster using arm",
+    "Lift the blue rounded-bottom cup up and drop it on the light gray streaked wooden coaster.",
+    "Grab the smooth blue cup for liquids and place it on the coaster with circular shape.",
+    "Stick the blue rounded-bottom cup onto the wooden coaster carefully.",
+    "Lift the blue rounded-bottom cup and stick it onto the grainy texture coaster.",
+    "Position the cup with smooth plastic surface above and drop it on the small coaster with grain texture",
+    "Make sure the cup for holding liquids ends up on the light gray streaked wooden coaster.",
+    "Use an arm to drop the smooth blue drinking cup on the small coaster with grain texture",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster with the arm",
+    "Grab the plastic cup for drinks, then place it onto the round coaster.",
+    "Use an arm to place the smooth blue drinking cup on the flat round wooden coaster",
+    "Move the plastic cup for drinks to the light gray round grainy coaster",
+    "Carefully place the smooth blue cup for liquids onto the wooden coaster without arm",
+    "Use the arm to slide the light blue plastic cup onto the coaster made of smooth wood.",
+    "Set the cup with smooth plastic surface carefully onto the light gray streaked wooden coaster",
+    "Stick the cup with smooth plastic surface onto the flat surface gray wooden coaster using the arm.",
+    "Lift the smooth blue cup for liquids and place it onto the light gray streaked wooden coaster.",
+    "Set the smooth blue cup for liquids on the light gray streaked wooden coaster using the arm."
+  ],
+  "unseen": [
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the light gray coaster"
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode2.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the cup with smooth plastic surface squarely on top of the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids and place it over the wooden coaster.",
+    "Slide the plastic cup for drinks gently onto the round coaster with light streaks via the arm.",
+    "Grab the cup for holding liquids and set it onto the flat round wooden coaster.",
+    "Stick the smooth blue cup for liquids onto the round coaster with light streaks carefully.",
+    "Drop the rounded base blue cup on top of the grainy texture coaster.",
+    "Move the smooth blue drinking cup to the round coaster with light streaks and set it down.",
+    "Lift the medium blue cylindrical cup and stick it onto the flat round wooden coaster.",
+    "Place the cup for holding liquids on top of the light gray streaked wooden coaster",
+    "Set the cup with smooth plastic surface securely on the flat surface gray wooden coaster using the arm.",
+    "Use the arm to put the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup with smooth plastic surface on the round coaster with light streaks",
+    "Set the rounded base blue cup carefully onto the light gray streaked wooden coaster",
+    "Position the cup with smooth plastic surface above and drop it on the light gray round grainy coaster",
+    "Grab the rounded base blue cup and lower it onto the round coaster with light streaks",
+    "Use arm to place the smooth blue drinking cup on the smooth round palm-sized coaster",
+    "Drop the medium-sized plastic blue cup firmly on the flat round wooden coaster using arm",
+    "Position the cup with light blue color carefully on the small coaster with grain texture",
+    "Use the arm to position the cylindrical light blue cup onto the round coaster.",
+    "Using the arm, align the cup with light blue color over the light gray round grainy coaster",
+    "Align the cup for holding liquids and set it down on the coaster made of smooth wood",
+    "Use the arm to set the cup for holding liquids on the round coaster with light streaks",
+    "Using the arm, slide the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface onto the wooden coaster with the arm",
+    "Lift the light blue plastic cup up and drop it on the small coaster with grain texture.",
+    "Stick the light blue plastic cup onto the round coaster with light streaks using the arm.",
+    "Use an arm to place the medium blue cylindrical cup on the small coaster with grain texture",
+    "Move the medium blue cylindrical cup to the light gray round grainy coaster using the arm.",
+    "Set the cup with smooth plastic surface onto the round coaster using the arm.",
+    "Use the arm to position the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Position the blue rounded-bottom cup on the round coaster with light streaks with the arm.",
+    "Direct the cup with light blue color to the coaster made of smooth wood and let it rest.",
+    "Move the smooth blue cup for liquids using the arm onto the flat round wooden coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the smooth round palm-sized coaster.",
+    "Grab the medium-sized plastic blue cup, then place it onto the wooden coaster.",
+    "Make sure the blue rounded-bottom cup ends up on the flat surface gray wooden coaster.",
+    "Relocate the smooth blue cup for liquids precisely onto the round coaster with arm",
+    "Use the arm to slide the medium blue cylindrical cup onto the round coaster.",
+    "Lift the medium-sized plastic blue cup and place it over the flat surface gray wooden coaster",
+    "Use an arm to drop the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Stick the blue rounded-bottom cup onto the light gray streaked wooden coaster using the arm",
+    "Slide the light blue plastic cup onto the light gray round grainy coaster",
+    "Slide the cup with light blue color onto the round coaster with light streaks with the arm.",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape",
+    "Lift the cup with smooth plastic surface and place it onto the flat round wooden coaster.",
+    "Set the smooth blue cup for liquids down on the round coaster with light streaks",
+    "Grab the light blue plastic cup and place it on the coaster made of smooth wood.",
+    "Set the medium blue cylindrical cup on the smooth round palm-sized coaster using the arm.",
+    "Carefully place the cylindrical light blue cup onto the coaster with circular shape without arm",
+    "Position the blue rounded-bottom cup squarely on top of the flat surface gray wooden coaster.",
+    "Grab the rounded base blue cup and place it over the round coaster.",
+    "Slide the blue rounded-bottom cup gently onto the coaster with circular shape via the arm.",
+    "Grab the smooth blue drinking cup and set it onto the coaster made of smooth wood.",
+    "Stick the cylindrical light blue cup onto the wooden coaster carefully.",
+    "Drop the plastic cup for drinks on top of the grainy texture coaster.",
+    "Move the light blue plastic cup to the round coaster with light streaks and set it down.",
+    "Lift the medium-sized plastic blue cup and stick it onto the coaster with circular shape.",
+    "Place the rounded base blue cup on top of the wooden coaster",
+    "Set the cup with light blue color securely on the round coaster with light streaks using the arm.",
+    "Use the arm to put the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape",
+    "Set the medium blue cylindrical cup carefully onto the round coaster with light streaks",
+    "Position the medium blue cylindrical cup above and drop it on the light gray round grainy coaster",
+    "Grab the cup for holding liquids and lower it onto the wooden coaster",
+    "Use arm to place the plastic cup for drinks on the coaster with circular shape",
+    "Drop the cup with light blue color firmly on the round coaster using arm",
+    "Position the smooth blue drinking cup carefully on the round coaster with light streaks",
+    "Use the arm to position the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Using the arm, align the rounded base blue cup over the coaster with circular shape",
+    "Align the cup with smooth plastic surface and set it down on the flat surface gray wooden coaster",
+    "Use the arm to set the light blue plastic cup on the flat surface gray wooden coaster",
+    "Using the arm, slide the medium-sized plastic blue cup onto the round coaster.",
+    "Move the rounded base blue cup onto the flat round wooden coaster with the arm",
+    "Lift the cup with light blue color up and drop it on the light gray streaked wooden coaster.",
+    "Stick the medium-sized plastic blue cup onto the round coaster using the arm.",
+    "Use an arm to place the cup for holding liquids on the wooden coaster",
+    "Move the plastic cup for drinks to the grainy texture coaster using the arm.",
+    "Set the blue rounded-bottom cup onto the small coaster with grain texture using the arm.",
+    "Use the arm to position the rounded base blue cup on the coaster with circular shape.",
+    "Position the cup with light blue color on the coaster with circular shape with the arm.",
+    "Direct the medium-sized plastic blue cup to the smooth round palm-sized coaster and let it rest.",
+    "Move the smooth blue drinking cup using the arm onto the smooth round palm-sized coaster.",
+    "Pick the cup with smooth plastic surface up and drop it on the coaster with circular shape.",
+    "Grab the light blue plastic cup, then place it onto the light gray streaked wooden coaster.",
+    "Make sure the rounded base blue cup ends up on the coaster with circular shape.",
+    "Relocate the cup with smooth plastic surface precisely onto the flat round wooden coaster with arm",
+    "Use the arm to slide the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Lift the cup with light blue color and place it over the wooden coaster",
+    "Use an arm to drop the rounded base blue cup on the coaster made of smooth wood.",
+    "Stick the smooth blue cup for liquids onto the coaster made of smooth wood using the arm",
+    "Slide the cup for holding liquids onto the flat surface gray wooden coaster",
+    "Slide the light blue plastic cup onto the grainy texture coaster with the arm.",
+    "Move the cup with light blue color to the flat round wooden coaster",
+    "Lift the smooth blue drinking cup and place it onto the flat round wooden coaster.",
+    "Set the rounded base blue cup down on the small coaster with grain texture",
+    "Grab the plastic cup for drinks and place it on the grainy texture coaster.",
+    "Set the cup with light blue color on the smooth round palm-sized coaster using the arm.",
+    "Carefully place the rounded base blue cup onto the round coaster with light streaks without arm"
+  ],
+  "unseen": [
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster."
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode3.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the cup with smooth plastic surface above and drop it on the grainy texture coaster",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Drop the medium blue cylindrical cup firmly on the light gray streaked wooden coaster using arm",
+    "Set the smooth blue cup for liquids onto the smooth round palm-sized coaster using the arm.",
+    "Use an arm to drop the rounded base blue cup on the light gray round grainy coaster",
+    "Direct the light blue plastic cup to the small coaster with grain texture and let it rest.",
+    "Use the arm to set the rounded base blue cup on the flat round wooden coaster",
+    "Move the plastic cup for drinks to the smooth round palm-sized coaster and set it down.",
+    "Stick the cup with smooth plastic surface onto the flat round wooden coaster using the arm",
+    "Move the smooth blue drinking cup to the smooth round palm-sized coaster using the arm.",
+    "Drop the smooth blue drinking cup on top of the wooden coaster.",
+    "Use the arm to position the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Using the arm, slide the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Lift the light blue plastic cup and place it onto the coaster with circular shape.",
+    "Slide the cup for holding liquids onto the flat round wooden coaster",
+    "Slide the cylindrical light blue cup gently onto the small coaster with grain texture via the arm.",
+    "Set the blue rounded-bottom cup securely on the light gray streaked wooden coaster using the arm.",
+    "Position the medium blue cylindrical cup on the smooth round palm-sized coaster with the arm.",
+    "Use the arm to slide the smooth blue drinking cup onto the coaster with circular shape.",
+    "Set the rounded base blue cup down on the flat surface gray wooden coaster",
+    "Use an arm to place the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Stick the cup for holding liquids onto the coaster with circular shape carefully.",
+    "Set the blue rounded-bottom cup on the flat surface gray wooden coaster using the arm.",
+    "Set the medium blue cylindrical cup carefully onto the coaster made of smooth wood",
+    "Lift the medium-sized plastic blue cup up and drop it on the coaster with circular shape.",
+    "Grab the rounded base blue cup and lower it onto the coaster with circular shape",
+    "Move the smooth blue drinking cup onto the light gray streaked wooden coaster with the arm",
+    "Make sure the blue rounded-bottom cup ends up on the smooth round palm-sized coaster.",
+    "Pick the plastic cup for drinks up and drop it on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup and place it over the flat surface gray wooden coaster",
+    "Use the arm to position the smooth blue cup for liquids on the round coaster.",
+    "Use arm to place the blue rounded-bottom cup on the light gray streaked wooden coaster",
+    "Relocate the blue rounded-bottom cup precisely onto the flat round wooden coaster with arm",
+    "Grab the medium-sized plastic blue cup and place it over the light gray round grainy coaster.",
+    "Slide the medium-sized plastic blue cup onto the round coaster with light streaks with the arm.",
+    "Grab the blue rounded-bottom cup, then place it onto the light gray streaked wooden coaster.",
+    "Use the arm to put the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup using the arm onto the light gray streaked wooden coaster.",
+    "Grab the cylindrical light blue cup and set it onto the coaster with circular shape.",
+    "Lift the light blue plastic cup and stick it onto the smooth round palm-sized coaster.",
+    "Using the arm, align the blue rounded-bottom cup over the light gray streaked wooden coaster",
+    "Position the rounded base blue cup carefully on the round coaster with light streaks",
+    "Using the arm, drop the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Align the plastic cup for drinks and set it down on the coaster made of smooth wood",
+    "Grab the smooth blue drinking cup and place it on the small coaster with grain texture.",
+    "Place the smooth blue drinking cup on top of the round coaster with light streaks",
+    "Stick the smooth blue cup for liquids onto the light gray round grainy coaster using the arm.",
+    "Carefully place the smooth blue drinking cup onto the flat round wooden coaster without arm",
+    "Position the cup with light blue color squarely on top of the flat round wooden coaster.",
+    "Move the cup for holding liquids to the coaster with circular shape",
+    "Position the blue rounded-bottom cup above and drop it on the smooth round palm-sized coaster",
+    "Use an arm to drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Drop the cup with light blue color firmly on the flat round wooden coaster using arm",
+    "Set the medium blue cylindrical cup onto the flat surface gray wooden coaster using the arm.",
+    "Use an arm to drop the cup with light blue color on the round coaster with light streaks",
+    "Direct the smooth blue drinking cup to the grainy texture coaster and let it rest.",
+    "Use the arm to set the light blue plastic cup on the light gray round grainy coaster",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood and set it down.",
+    "Stick the cup for holding liquids onto the grainy texture coaster using the arm",
+    "Move the light blue plastic cup to the light gray round grainy coaster using the arm.",
+    "Drop the cylindrical light blue cup on top of the coaster with circular shape.",
+    "Use the arm to position the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Using the arm, slide the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it onto the coaster with circular shape.",
+    "Slide the cup with smooth plastic surface onto the grainy texture coaster",
+    "Slide the medium blue cylindrical cup gently onto the coaster with circular shape via the arm.",
+    "Set the cup for holding liquids securely on the flat round wooden coaster using the arm.",
+    "Position the cup for holding liquids on the coaster with circular shape with the arm.",
+    "Use the arm to slide the cup with light blue color onto the flat round wooden coaster.",
+    "Set the plastic cup for drinks down on the smooth round palm-sized coaster",
+    "Use an arm to place the cylindrical light blue cup on the small coaster with grain texture",
+    "Stick the smooth blue cup for liquids onto the light gray streaked wooden coaster carefully.",
+    "Set the smooth blue drinking cup on the flat round wooden coaster using the arm.",
+    "Set the medium-sized plastic blue cup carefully onto the coaster made of smooth wood",
+    "Lift the smooth blue drinking cup up and drop it on the light gray round grainy coaster.",
+    "Grab the blue rounded-bottom cup and lower it onto the light gray streaked wooden coaster",
+    "Move the rounded base blue cup onto the coaster made of smooth wood with the arm",
+    "Make sure the cup with smooth plastic surface ends up on the wooden coaster.",
+    "Pick the cup with light blue color up and drop it on the round coaster.",
+    "Lift the cylindrical light blue cup and place it over the round coaster",
+    "Use the arm to position the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use arm to place the cup for holding liquids on the light gray streaked wooden coaster",
+    "Relocate the cup with smooth plastic surface precisely onto the wooden coaster with arm",
+    "Grab the blue rounded-bottom cup and place it over the smooth round palm-sized coaster.",
+    "Slide the smooth blue cup for liquids onto the coaster made of smooth wood with the arm.",
+    "Grab the light blue plastic cup, then place it onto the smooth round palm-sized coaster.",
+    "Use the arm to put the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup using the arm onto the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup and set it onto the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface and stick it onto the coaster made of smooth wood.",
+    "Using the arm, align the medium blue cylindrical cup over the coaster with circular shape",
+    "Position the cup with light blue color carefully on the small coaster with grain texture",
+    "Using the arm, drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Align the cylindrical light blue cup and set it down on the coaster made of smooth wood",
+    "Grab the medium blue cylindrical cup and place it on the smooth round palm-sized coaster.",
+    "Place the blue rounded-bottom cup on top of the light gray round grainy coaster",
+    "Stick the medium-sized plastic blue cup onto the flat round wooden coaster using the arm.",
+    "Carefully place the cup for holding liquids onto the wooden coaster without arm",
+    "Position the plastic cup for drinks squarely on top of the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster"
+  ],
+  "unseen": [
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster gently.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster"
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cylindrical light blue cup and place it on the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster",
+    "Direct the cylindrical light blue cup to the light gray round grainy coaster and let it rest.",
+    "Use an arm to place the blue rounded-bottom cup on the coaster made of smooth wood",
+    "Using the arm, slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Slide the light blue plastic cup gently onto the wooden coaster via the arm.",
+    "Drop the cup for holding liquids on top of the coaster made of smooth wood.",
+    "Use the arm to position the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Use an arm to drop the cup with light blue color on the small coaster with grain texture.",
+    "Move the rounded base blue cup using the arm onto the small coaster with grain texture.",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster using the arm.",
+    "Stick the light blue plastic cup onto the round coaster carefully.",
+    "Set the smooth blue drinking cup carefully onto the grainy texture coaster",
+    "Set the medium blue cylindrical cup onto the smooth round palm-sized coaster using the arm.",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster and set it down.",
+    "Set the cup with light blue color securely on the small coaster with grain texture using the arm.",
+    "Using the arm, drop the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks with the arm",
+    "Grab the smooth blue drinking cup and lower it onto the small coaster with grain texture",
+    "Grab the cup for holding liquids and place it over the flat round wooden coaster.",
+    "Using the arm, align the plastic cup for drinks over the flat surface gray wooden coaster",
+    "Stick the rounded base blue cup onto the coaster with circular shape using the arm",
+    "Slide the cup with light blue color onto the grainy texture coaster with the arm.",
+    "Align the blue rounded-bottom cup and set it down on the wooden coaster",
+    "Carefully place the blue rounded-bottom cup onto the round coaster with light streaks without arm",
+    "Use the arm to set the cup with smooth plastic surface on the coaster made of smooth wood",
+    "Move the rounded base blue cup to the coaster with circular shape using the arm.",
+    "Position the medium-sized plastic blue cup carefully on the flat surface gray wooden coaster",
+    "Position the plastic cup for drinks above and drop it on the light gray streaked wooden coaster",
+    "Place the smooth blue cup for liquids on top of the round coaster with light streaks",
+    "Use arm to place the blue rounded-bottom cup on the wooden coaster",
+    "Lift the cup for holding liquids and place it onto the round coaster.",
+    "Slide the cup with light blue color onto the smooth round palm-sized coaster",
+    "Lift the medium-sized plastic blue cup and stick it onto the grainy texture coaster.",
+    "Set the medium blue cylindrical cup down on the smooth round palm-sized coaster",
+    "Make sure the cup for holding liquids ends up on the flat round wooden coaster.",
+    "Position the rounded base blue cup on the grainy texture coaster with the arm.",
+    "Pick the plastic cup for drinks up and drop it on the light gray round grainy coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the light gray round grainy coaster with arm",
+    "Use an arm to drop the plastic cup for drinks on the round coaster with light streaks",
+    "Use the arm to position the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color, then place it onto the light gray round grainy coaster.",
+    "Set the cylindrical light blue cup on the small coaster with grain texture using the arm.",
+    "Lift the cylindrical light blue cup and place it over the smooth round palm-sized coaster",
+    "Position the cup with light blue color squarely on top of the flat round wooden coaster.",
+    "Grab the cup for holding liquids and set it onto the light gray streaked wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the coaster made of smooth wood.",
+    "Drop the cup for holding liquids firmly on the round coaster using arm",
+    "Use the arm to slide the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface up and drop it on the small coaster with grain texture.",
+    "Grab the cup for holding liquids and place it on the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup to the round coaster",
+    "Direct the medium-sized plastic blue cup to the grainy texture coaster and let it rest.",
+    "Use an arm to place the rounded base blue cup on the light gray round grainy coaster",
+    "Using the arm, slide the rounded base blue cup onto the round coaster.",
+    "Slide the cylindrical light blue cup gently onto the small coaster with grain texture via the arm.",
+    "Drop the rounded base blue cup on top of the flat surface gray wooden coaster.",
+    "Use the arm to position the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Use an arm to drop the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Move the light blue plastic cup using the arm onto the round coaster with light streaks.",
+    "Stick the cup with smooth plastic surface onto the light gray round grainy coaster using the arm.",
+    "Stick the cylindrical light blue cup onto the coaster made of smooth wood carefully.",
+    "Set the cup with light blue color carefully onto the smooth round palm-sized coaster",
+    "Set the cup with light blue color onto the small coaster with grain texture using the arm.",
+    "Move the smooth blue drinking cup to the grainy texture coaster and set it down.",
+    "Set the smooth blue cup for liquids securely on the round coaster using the arm.",
+    "Using the arm, drop the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster with the arm",
+    "Grab the cylindrical light blue cup and lower it onto the grainy texture coaster",
+    "Grab the medium-sized plastic blue cup and place it over the coaster with circular shape.",
+    "Using the arm, align the medium blue cylindrical cup over the flat surface gray wooden coaster",
+    "Stick the cup for holding liquids onto the coaster made of smooth wood using the arm",
+    "Slide the plastic cup for drinks onto the coaster with circular shape with the arm.",
+    "Align the smooth blue cup for liquids and set it down on the coaster made of smooth wood",
+    "Carefully place the medium-sized plastic blue cup onto the flat surface gray wooden coaster without arm",
+    "Use the arm to set the cup with smooth plastic surface on the grainy texture coaster",
+    "Move the rounded base blue cup to the round coaster using the arm.",
+    "Position the smooth blue cup for liquids carefully on the round coaster with light streaks",
+    "Position the medium-sized plastic blue cup above and drop it on the smooth round palm-sized coaster",
+    "Place the blue rounded-bottom cup on top of the round coaster",
+    "Use arm to place the medium blue cylindrical cup on the small coaster with grain texture",
+    "Lift the cylindrical light blue cup and place it onto the coaster with circular shape.",
+    "Slide the plastic cup for drinks onto the flat surface gray wooden coaster",
+    "Lift the cup with smooth plastic surface and stick it onto the light gray round grainy coaster.",
+    "Set the smooth blue drinking cup down on the coaster with circular shape",
+    "Make sure the medium blue cylindrical cup ends up on the smooth round palm-sized coaster.",
+    "Position the blue rounded-bottom cup on the flat surface gray wooden coaster with the arm.",
+    "Pick the smooth blue cup for liquids up and drop it on the small coaster with grain texture.",
+    "Relocate the medium-sized plastic blue cup precisely onto the flat round wooden coaster with arm",
+    "Use an arm to drop the rounded base blue cup on the light gray streaked wooden coaster",
+    "Use the arm to position the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Grab the cup for holding liquids, then place it onto the flat surface gray wooden coaster.",
+    "Set the smooth blue drinking cup on the coaster made of smooth wood using the arm.",
+    "Lift the cup with light blue color and place it over the smooth round palm-sized coaster",
+    "Position the medium-sized plastic blue cup squarely on top of the round coaster with light streaks.",
+    "Grab the light blue plastic cup and set it onto the flat surface gray wooden coaster.",
+    "Use the arm to put the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Drop the plastic cup for drinks firmly on the round coaster with light streaks using arm",
+    "Use the arm to slide the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Lift the cup with light blue color up and drop it on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the small smooth cup onto the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the small smooth cup carefully onto the light gray coaster",
+    "Use arm to set the small smooth cup on the light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Use arm to set the handheld round blue cup on the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the light gray coaster gently.",
+    "Pick the small smooth cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Set the blue cup on top of the light gray coaster.",
+    "Place the blue cup onto the light gray coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the light gray coaster"
+  ]
+}

place_empty_cup/demo_clean_ep20_vidar/instructions/episode5.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to set the medium-sized plastic blue cup on the flat surface gray wooden coaster",
+    "Slide the cylindrical light blue cup onto the small coaster with grain texture with the arm.",
+    "Drop the cup with smooth plastic surface firmly on the coaster made of smooth wood using arm",
+    "Using the arm, slide the cup for holding liquids onto the small coaster with grain texture.",
+    "Grab the cup with light blue color, then place it onto the flat round wooden coaster.",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster",
+    "Slide the plastic cup for drinks gently onto the coaster made of smooth wood via the arm.",
+    "Pick the cup for holding liquids up and drop it on the small coaster with grain texture.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster",
+    "Grab the light blue plastic cup and place it over the grainy texture coaster.",
+    "Relocate the cup with smooth plastic surface precisely onto the smooth round palm-sized coaster with arm",
+    "Set the cup for holding liquids securely on the coaster made of smooth wood using the arm.",
+    "Position the plastic cup for drinks squarely on top of the coaster made of smooth wood.",
+    "Set the smooth blue drinking cup down on the small coaster with grain texture",
+    "Use arm to place the cylindrical light blue cup on the coaster made of smooth wood",
+    "Use the arm to position the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the round coaster with light streaks.",
+    "Position the cylindrical light blue cup on the wooden coaster with the arm.",
+    "Grab the light blue plastic cup and lower it onto the coaster made of smooth wood",
+    "Grab the light blue plastic cup and place it on the small coaster with grain texture.",
+    "Move the light blue plastic cup onto the round coaster with light streaks with the arm",
+    "Make sure the light blue plastic cup ends up on the small coaster with grain texture.",
+    "Drop the medium-sized plastic blue cup on top of the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood and set it down.",
+    "Grab the cup with smooth plastic surface and set it onto the flat surface gray wooden coaster.",
+    "Position the rounded base blue cup above and drop it on the smooth round palm-sized coaster",
+    "Carefully place the cup for holding liquids onto the wooden coaster without arm",
+    "Position the cup for holding liquids carefully on the flat surface gray wooden coaster",
+    "Place the plastic cup for drinks on top of the light gray streaked wooden coaster",
+    "Move the smooth blue drinking cup to the round coaster with light streaks using the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Use the arm to put the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup up and drop it on the wooden coaster.",
+    "Lift the blue rounded-bottom cup and place it over the smooth round palm-sized coaster",
+    "Stick the medium blue cylindrical cup onto the small coaster with grain texture carefully.",
+    "Use an arm to drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Set the medium-sized plastic blue cup onto the coaster with circular shape using the arm.",
+    "Use the arm to position the rounded base blue cup onto the coaster with circular shape.",
+    "Use an arm to place the smooth blue cup for liquids on the flat round wooden coaster",
+    "Set the plastic cup for drinks on the round coaster with light streaks using the arm.",
+    "Using the arm, drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Direct the blue rounded-bottom cup to the round coaster with light streaks and let it rest.",
+    "Align the smooth blue cup for liquids and set it down on the flat round wooden coaster",
+    "Stick the rounded base blue cup onto the round coaster using the arm.",
+    "Lift the rounded base blue cup and place it onto the coaster with circular shape.",
+    "Set the blue rounded-bottom cup carefully onto the small coaster with grain texture",
+    "Use an arm to drop the blue rounded-bottom cup on the grainy texture coaster",
+    "Stick the smooth blue drinking cup onto the wooden coaster using the arm",
+    "Using the arm, align the rounded base blue cup over the round coaster",
+    "Move the plastic cup for drinks using the arm onto the grainy texture coaster.",
+    "Use the arm to set the blue rounded-bottom cup on the flat surface gray wooden coaster",
+    "Slide the cup with smooth plastic surface onto the smooth round palm-sized coaster with the arm.",
+    "Drop the cup for holding liquids firmly on the light gray streaked wooden coaster using arm",
+    "Using the arm, slide the medium-sized plastic blue cup onto the round coaster.",
+    "Grab the cup with smooth plastic surface, then place it onto the small coaster with grain texture.",
+    "Slide the rounded base blue cup onto the round coaster",
+    "Slide the rounded base blue cup gently onto the round coaster via the arm.",
+    "Pick the blue rounded-bottom cup up and drop it on the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster",
+    "Grab the smooth blue cup for liquids and place it over the grainy texture coaster.",
+    "Relocate the rounded base blue cup precisely onto the coaster made of smooth wood with arm",
+    "Set the smooth blue drinking cup securely on the wooden coaster using the arm.",
+    "Position the plastic cup for drinks squarely on top of the coaster made of smooth wood.",
+    "Set the medium blue cylindrical cup down on the smooth round palm-sized coaster",
+    "Use arm to place the medium blue cylindrical cup on the round coaster",
+    "Use the arm to position the plastic cup for drinks on the round coaster.",
+    "Lift the medium blue cylindrical cup and stick it onto the flat surface gray wooden coaster.",
+    "Position the blue rounded-bottom cup on the round coaster with light streaks with the arm.",
+    "Grab the medium-sized plastic blue cup and lower it onto the flat round wooden coaster",
+    "Grab the cylindrical light blue cup and place it on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks onto the light gray streaked wooden coaster with the arm",
+    "Make sure the blue rounded-bottom cup ends up on the light gray round grainy coaster.",
+    "Drop the medium blue cylindrical cup on top of the round coaster.",
+    "Move the light blue plastic cup to the round coaster and set it down.",
+    "Grab the rounded base blue cup and set it onto the wooden coaster.",
+    "Position the medium blue cylindrical cup above and drop it on the small coaster with grain texture",
+    "Carefully place the cylindrical light blue cup onto the coaster with circular shape without arm",
+    "Position the cup with light blue color carefully on the flat surface gray wooden coaster",
+    "Place the medium-sized plastic blue cup on top of the round coaster",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster using the arm.",
+    "Use the arm to slide the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Use the arm to put the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup up and drop it on the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup and place it over the smooth round palm-sized coaster",
+    "Stick the cup with light blue color onto the light gray round grainy coaster carefully.",
+    "Use an arm to drop the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Set the cup with light blue color onto the flat surface gray wooden coaster using the arm.",
+    "Use the arm to position the light blue plastic cup onto the flat round wooden coaster.",
+    "Use an arm to place the cup with light blue color on the flat surface gray wooden coaster",
+    "Set the light blue plastic cup on the grainy texture coaster using the arm.",
+    "Using the arm, drop the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Direct the blue rounded-bottom cup to the wooden coaster and let it rest.",
+    "Align the cylindrical light blue cup and set it down on the wooden coaster",
+    "Stick the rounded base blue cup onto the light gray round grainy coaster using the arm.",
+    "Lift the cup for holding liquids and place it onto the round coaster with light streaks.",
+    "Set the smooth blue drinking cup carefully onto the small coaster with grain texture",
+    "Use an arm to drop the cup for holding liquids on the wooden coaster",
+    "Stick the light blue plastic cup onto the smooth round palm-sized coaster using the arm",
+    "Using the arm, align the smooth blue cup for liquids over the smooth round palm-sized coaster",
+    "Move the cup with smooth plastic surface using the arm onto the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the small smooth cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the light gray coaster.",
+    "Place the handheld round blue cup onto the light gray coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the blue cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the small drink-protecting wooden coaster",
+    "Place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Place the blue cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the blue cup down on the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the small smooth cup on the small drink-protecting wooden coaster",
+    "Place the handheld round blue cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the light gray coaster.",
+    "Pick the blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the handheld round blue cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the small smooth cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the blue cup on top of the small drink-protecting wooden coaster.",
+    "Set the small smooth cup on top of the small drink-protecting wooden coaster.",
+    "Pick the blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the small smooth cup on top of the light gray coaster.",
+    "Set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the small smooth cup carefully onto the disc-shaped light gray coaster",
+    "Place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup on top of the small drink-protecting wooden coaster.",
+    "Pick the handheld round blue cup and position it on the disc-shaped light gray coaster",
+    "Place the small smooth cup on top of the disc-shaped light gray coaster.",
+    "Set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Place the handheld round blue cup onto the disc-shaped light gray coaster",
+    "Use arm to set the small smooth cup on the disc-shaped light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the blue cup onto the small drink-protecting wooden coaster.",
+    "Place the small smooth cup onto the small drink-protecting wooden coaster gently.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Set the blue cup on top of the disc-shaped light gray coaster.",
+    "Pick the handheld round blue cup and position it on the small drink-protecting wooden coaster",
+    "Place the blue cup on top of the light gray coaster.",
+    "Set the handheld round blue cup down on the light gray coaster.",
+    "Place the blue cup onto the small drink-protecting wooden coaster",
+    "Use arm to set the blue cup on the light gray coaster",
+    "Place the blue cup carefully onto the light gray coaster",
+    "Place the handheld round blue cup onto the light gray coaster.",
+    "Place the small smooth cup onto the disc-shaped light gray coaster gently.",
+    "Set the small smooth cup on top of the disc-shaped light gray coaster."
+  ]
+}